CN108942205A - Processing unit and automatic processing method - Google Patents
Processing unit and automatic processing method Download PDFInfo
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- CN108942205A CN108942205A CN201810608694.5A CN201810608694A CN108942205A CN 108942205 A CN108942205 A CN 108942205A CN 201810608694 A CN201810608694 A CN 201810608694A CN 108942205 A CN108942205 A CN 108942205A
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- Prior art keywords
- processing unit
- optical devices
- processing
- workpiece
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B15/00—Optical objectives with means for varying the magnification
- G02B15/02—Optical objectives with means for varying the magnification by changing, adding, or subtracting a part of the objective, e.g. convertible objective
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/14—Mountings, adjusting means, or light-tight connections, for optical elements for lenses adapted to interchange lenses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Automatic processing device includes multiple processing units, carries out predetermined processing to the Optical devices with the opening entered for light beam；Mounting table integrally loads the pallet of Optical devices and fixed Optical devices；Arm robot is integrally promoted from mounting table by Optical devices with pallet, and so that the Optical devices for completing predetermined processing and pallet is integrally returned to mounting table integrally relative to the successively rotation of multiple processing units on Optical devices and pallet.
Description
The present patent application be international filing date be on March 25th, 2014, international application no PCT/JP2014/058252,
National application number into National Phase in China is 201480030167.0, entitled " automatic processing device automatically processes
The divisional application of the patent application of method and pallet ".
Technical field
The present invention relates to the automatic processing device and automatic processing method automatically to workpiece progress predetermined processing and certainly
Pallet used in dynamic processing and automatic processing method.
Background technique
The assembling device (referring to patent document 1) of the automatic assembled workpiece of the known arm robot using multi-joint.Assembling
Device is placed on the component of supply tray and carries to assembling region, in assembling region assembled workpiece, and by the workpiece after assembling to
It carries in keeping region.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2011-115877 bulletin
Summary of the invention
But the motion for the device that the workpiece after assembling is automatically adjusted or is checked and few, especially
It is expected that the device that multiple workpiece are concurrently automatically adjusted or are automaticly inspected.
First method according to the present invention, automatic processing device include multiple processing units, enter to having for light beam
Opening Optical devices carry out predetermined processing；Mounting table integrally carries the pallet of Optical devices and fixed Optical devices
It sets；Arm robot is integrally promoted from mounting table by Optical devices with pallet, and by Optical devices and pallet integrally phase
For the successively rotation of multiple processing units, the Optical devices for completing predetermined processing and pallet is made integrally to return to mounting table.
Second method according to the present invention, it is preferred that in the automatic processing device of first method, arm robot makes
The opening of Optical devices in multiple processing units everywhere in reason device it is opposite, and by Optical devices relative to multiple processing
Device successively rotation when, Optical devices are installed to each processing unit via pallet, multiple processing units are had via pallet
Some openings carry out predetermined processing to the Optical devices successively installed.
Third Way according to the present invention, it is preferred that in the automatic processing device of second method, arm robot pair
Each of multiple Optical devices is carried out by Optical devices and pallet integrally to the processing of multiple processing units successively rotation, by
This, arm robot carry out by multiple Optical devices each with pallet integrally relative to multiple processing units each
The operation of mobile operation and dismounting.
Fourth way according to the present invention, it is preferred that in the automatic processing device of Third Way, also there is input port
With submitting mouth.Mounting table has the function of to carry as follows, by Optical devices and pallet integrally from input port via arm robot
Movable range towards send out mouth carry.
5th mode according to the present invention, it is preferred that in the automatic processing device of fourth way, arm robot packet
The first arm robot and the second arm robot are included, has been carried out in the first arm robot by first in multiple Optical devices
Optical devices and pallet integrally relative to multiple processing units successively processing of rotation after, the first Optical devices pass through mounting
Platform and the movable range for being carried to the second arm robot, and the second Optical devices in multiple Optical devices pass through mounting
Platform and when being carried to the movable range of the first arm robot, the second arm robot is carried out the first Optical devices and pallet
The integrally processing relative to the successively rotation of multiple processing units, and the first arm robot carry out by the second Optical devices with
The pallet integrally processing relative to the successively rotation of multiple processing units.
6th mode according to the present invention, it is preferred that be to automatically process in the automatic processing device of the 5th mode
The first automatic processing device and the second automatic processing device of device configure adjacent to each other, the submitting of the first automatic processing device
Mouth is opposite with the input port of the second automatic processing device.
7th mode according to the present invention, pallet are the pallets for fixing and carrying Optical devices, wherein have and fill with optics
The tray seat that the portions set are fitted into and fasten.
Eighth mode according to the present invention, it is preferred that in the pallet of the 7th mode, also there is pallet connector,
When Optical devices are mounted on the processing unit to Optical devices progress predetermined processing by arm robot, in order to pass through arm
Formula robot is promoted in conjunction with arm robot, and pallet connector is arranged on face identical with tray seat.
9th mode according to the present invention, it is preferred that in the pallet of eighth mode, passing through arm robot for light
Device is learned when being mounted in processing unit, the incised notch portion shape being arranged for the catcher support for processing unit and fixed tray
On the identical face of Cheng Yu tray seat, and when in order to Optical devices are mounted in processing unit by arm robot
Positioning, be formed with for processing unit guide pin insertion location hole.
Tenth mode according to the present invention, it is preferred that in the pallet of the 7th mode, Optical devices are the cameras of camera
Fuselage, the portions of Optical devices are the fuselage seats of camera body.
11st mode according to the present invention will have the optics of the opening entered for light beam in automatic processing method
The pallet of device and fixed Optical devices is integrally promoted, and Optical devices are integrally provided to Optical devices with pallet
Multiple processing units successively rotation of processing, returns to the Optical devices for completing predetermined processing integrally with pallet.
Invention effect
In accordance with the invention it is possible to obtain the good automatic processing device of ease of use.
Detailed description of the invention
Fig. 1 is the figure for illustrating the automatic processing device of one embodiment of the present invention.
Fig. 2 is to instantiate the figure of workpiece (camera body).
Fig. 3 is to instantiate the figure of pallet.
Fig. 4 is to instantiate the figure for the state that workpiece (camera body) is mounted on the pallet of Fig. 3.
Fig. 5 is that the workpiece (camera body) instantiated by the state of illustrated in Fig. 4 and pallet are integrally installed at device
Dismounting portion on state side view.
Fig. 6 is the figure for illustrating to have linked the state of 3 automatic processing devices.
Fig. 7 is to instantiate the figure of the automatic processing device of the 4th variation.
Fig. 8 is an example for indicating the operation for carrying out multiple workpiece (camera body) as object using arm robot
Figure.
Fig. 9 is the process for indicating the processing method automatically processed carried out using arm robot to workpiece (camera body)
Figure.
Specific embodiment
Hereinafter, being described with reference to mode for carrying out the present invention.
The summary > of < automatic processing device
Fig. 1 is the figure for illustrating the automatic processing device 1 of one embodiment of the present invention.In Fig. 1, dress is automatically processed
1 is set to be formed in the shell 21 for keeping cleaning ambient by air cleaning machine 31.From control panel 30 carry out to automatically process dress
Set 1 operation.
In shell 21, side by side configured with the multiple places for carrying out defined adjustment to manipulating object, that is, workpiece 11, checking
Manage 71~processing unit of device 79.In the present embodiment, it is promoted to be located at by arm robot 24 or arm robot 25 and be passed
Send the workpiece 11 on band 23, arm robot 24 or arm robot 25 by workpiece 11 relative to multiple 71~processing of processing unit
Device 79 carries out rotation, carries out the adjustment to workpiece 11, inspection processing respectively from there through 71~processing unit of processing unit 79.
Arm robot 24 and arm robot 25 are the vertical articulated robot to hang down from the top plate portion of shell 21.
< workpiece illustrates >
In the present embodiment, using optical device, that is, camera body as workpiece 11, by 71~processing unit of processing unit
79 carry out adjustment, the inspection processing to camera body respectively.Fig. 2 is to instantiate the figure of workpiece 11 (camera body).In Fig. 2,
Workpiece 11 is the camera body of simple eye reflection-type.Workpiece 11 (camera body) has the fuselage seat for installing interchangeable lenses 12
13.Interchangeable lenses 12 have the lens mount 14 chimeric with fuselage seat 13, being capable of removably structure relative to workpiece 11 (camera body)
At.
When being equipped with interchangeable lenses 12 on workpiece 11 (camera body), passed through interchangeable lenses 12 comes from object
The light beam of body from the opening 15 of fuselage seat 13 enter workpiece 11 (camera body) in, and reach photosensitive-member (not shown) (such as
Imaging sensor).Workpiece 11 (camera body) is based on the signal generation figure obtained by imaging sensor progress photoelectric conversion
As data.
In general, in the case where producing more workpiece 11 (camera bodies), to pass through each 11 (camera machine of workpiece
Body) obtain image meet as defined in benchmark mode, each workpiece 11 (camera body) is adjusted respectively, is checked.?
Adjustment checks, for example, the light of color and intensity as defined in 15 incidence of opening from workpiece 11 (camera body), or from setting
Data as defined in inputting in the signal terminal (not shown) of the inner peripheral portion of opening 15 etc. are set, in workpiece 11 (camera body) this side
Image as defined in obtaining and defined information.
< adjustment, check device illustrate >
Above-mentioned adjustment, inspection department's 71~processing unit of reason processing unit 79 are implemented.71~processing unit of processing unit 79
It determines the processing unit being for example adjusted to imaging sensor, the processing unit for the colour temperature adjustment for carrying out image, carry out automatically
The processing unit and adjustment of the adjustment of the processing unit, progress automatic exposure (AE) regulatory function of the adjustment of (AF) function of focusing
Adjustment that the processing unit etc. of predetermined function is implemented respectively, inspection item.71~processing unit of processing unit 79 usually will adjustment,
The different processing unit of inspection item is respectively arranged one in shell 21, but the time needed for adjustment, inspection is (when beat
Between: tact time) in the case where long processing unit, 2 or more same treatment devices can also be set in shell 21.
71~the processing unit of processing unit 79 being mounted in shell 21 is respectively in can receive (the camera machine of workpiece 11
Body) state when export idle signal.71~processing unit of processing unit 79 after confirmation is mounted with workpiece 11 (camera body),
Start the predetermined processing for adjusting or checking etc. to the workpiece 11 (camera body) installed.71~processing unit of processing unit 79 exists
Adjustment or check etc. predetermined processing complete when, output processing complete signal.Moreover, being formed when taking out workpiece 11 (camera body)
When state for next workpiece 11 (camera body) can be received, idle signal is exported again.
In addition, 71~processing unit of processing unit 79 is when noting abnormalities to the workpiece 11 (camera body) installed, it is defeated
Anomaly detection signal out.
< pallet illustrates >
In the present embodiment, in the state that workpiece 11 (camera body) is mounted on pallet 51 illustrated by Fig. 3,
It is integrally carried with pallet 51.Fig. 3 is to instantiate the figure of pallet 51.In Fig. 3, there is pallet 51 tray seat 52, pallet to connect
Device 53, location hole 54 and incised notch portion 55.
Tray seat 52 have fastening part same as the lens mount 14 of interchangeable lenses 12 (Fig. 2), and with (the camera machine of workpiece 11
Body) fuselage seat 13 it is chimeric.In the inside of the circumference of tray seat 52, it is provided with the through hole 56 through pallet 51.Pallet connection
Device 53 is that arm robot 24 and arm robot 25 (from paper nearby side) promote used connector when pallet 51.At this
In embodiment, make arm robot 24 or arm robot 25 and pallet connector 53 in conjunction with and promote pallet 51, but can also
To be configured to promote pallet 51 by arm robot 24 or the gripping pallet 51 of arm robot 25.
Location hole 54 is for that will be equipped with the pallet 51 of workpiece 11 (camera body) to 71~processing unit of processing unit
The through hole of the positioning of pallet 51 when 79 installation.Incised notch portion 55 is in order to for being arranged in 71~processing unit of processing unit 79
On catcher (not shown) (catcher) support and fixed tray 51 and be arranged.
Fig. 4 is to instantiate the figure that workpiece 11 (camera body) is mounted on to the state on the pallet 51 of Fig. 3.52 He of tray seat
The fuselage seat 13 of workpiece 11 (camera body) is fastened, so that workpiece 11 (camera body) is fixed on pallet 51.
Fig. 5 is to instantiate for the workpiece 11 (camera body) in the state of illustrated in Fig. 4 to be integrally installed at pallet 51
Side view in the dismounting portion 80 of processing unit 72.The pallet 51 for being fixed with workpiece 11 (camera body) passes through arm robot 24
Or arm robot 25 is installed on processing unit 72 on the left of figure.Specifically, with the opening that makes workpiece 11 (camera body)
15 and processing unit 72 (dismounting portion 80) it is opposite direction correspondingly, workpiece 11 (camera body) is mounted on via pallet 51
In processing unit 72.It is configured to when guide pin (not shown) being inserted into above-mentioned location hole 54 and the catcher of processing unit 72 (is not schemed
Show) support pallet 51 when, the opening 15 at the center and workpiece 11 (camera body) in dismounting portion 80 center contraposition.In processing unit
In 72, it is accommodated with the equipment (not shown) for carrying out pre-determined adjustment, inspection.
< automatic processing device illustrates >
In the automatic processing device 1 of Fig. 1, the operator X (not shown) outside input port 22 receives from previous process
Workpiece 11 (camera body) before adjustment, inspection, and secure it on pallet 51.Operator X will be in the state of illustrated in Fig. 4
Workpiece 11 (camera body) with pallet 51 integrally from input port 22 put into shell 21 in.Conveyer belt 23 passes through (not shown)
Motor and drive, workpiece 11 (camera body) and pallet 51 are integrally carried along the direction arrow A.When conveyer belt 23 is by workpiece 11
When (camera body) is carried to the movable range of arm robot 24, temporarily cease.
As described above, arm robot 24 and arm robot 25 are vertical articulated robots.Arm robot 24
The workpiece 11 (camera body) being positioned on conveyer belt 23 is integrally promoted with pallet 51, and by the workpiece 11 (camera body)
It is integrally installed in some in 71~processing unit of processing unit 79 with pallet 51.
Here, in fig. 1 it is illustrated that 71~processing unit of processing unit 79, but in the present embodiment, comprising being located at shell
Including body 21 or the subsequent processing unit of arm robot 25, it can store and arrange total 16 processing constituted by indulging 4 column × cross 4
Device.This respective longitudinal size of 16 processing units and lateral dimension are commonly constituted, and are easy to carry out the replacement of processing unit.
In addition, this 16 processing units can individually be loaded from the back side of shell 21.Thereby, it is possible to according to (the camera machine of workpiece 11
Body) needed for adjustment, inspection item, freely carry out device recombination.For example, using automatic in the production line of other products
In the case where processing unit 1, the processing unit of needs can be easily replaced.In addition, as described above, can also be at above-mentioned 16
In comprising 2 or more adjustment, the duplicate processing unit of inspection item.
Arm robot 24 ought connect from some of 16 processing units (being 71~processing unit of processing unit 79 in Fig. 1)
When by idle signal, the pallet 51 for being fixed with workpiece 11 (camera body) is promoted from conveyer belt 23, and with pallet 51 1
Installed to the processing unit for issuing idle signal to body.Here, arm robot 24 is by workpiece 11 (camera body) and pallet 51
The pre-determined processing dress being integrally installed in 16 processing units (being 71~processing unit of processing unit 79 in Fig. 1)
It sets.The processing unit of workpiece 11 (camera body) is installed either 16 processing units in 16, are also possible in 16
5 processing units.That is, can both be installed on whole processing units, a part of more processing units can also be installed on.
In the present embodiment, the workpiece 11 (camera body) for being configured to be mounted in some processing unit is relative to whole
Other 15 processing unit rotations in 16.
It (is processing unit 71 in Fig. 1 that arm robot 24, which is worked as from the processing unit for being equipped with workpiece 11 (camera body),
~processing unit 79) when receiving processing and completing signal, from the processing unit by workpiece 11 (camera body) and the one of pallet 51
Ground removes.The workpiece 11 (camera body) removed and pallet 51 are integrally mounted to above-mentioned 15 processing and filled by arm robot 24
The processing unit for not installing the workpiece 11 (camera body) in setting outputs the processing unit of idle signal.It is being not present not
In the case where installing and outputing the processing unit of idle signal, arm robot 24 make the workpiece 11 (camera body) removed with
Pallet 51 is integrally on return conveyer 23.Allow position on workpiece 11 (camera body) return conveyer 23 with from transmission
Position on band 23 before lifting workpieces 11 (camera body) is different.
Arm robot 25 shares progress operation identical with arm robot 24 with arm robot 24.That is, by workpiece
11 (camera bodies) are integrally promoted with pallet 51, and the workpiece 11 (camera body) and pallet 51 are integrally installed at processing dress
It sets in some in 71~processing unit 79.It (is processing unit 71~processing in Fig. 1 that arm robot 25, which is worked as from processing unit,
Device 79) receive processing complete signal when, integrally removed from the device by workpiece 11 (camera body) with pallet 51.It is arm-type
The workpiece 11 (camera body) removed and pallet 51 are integrally mounted to not pacifying in above-mentioned 15 processing units by robot 25
The processing unit for filling the workpiece 11 (camera body) outputs in the processing unit of idle signal, or by itself and pallet 51 1
Body on return conveyer 23.
In this way, by arm robot 25 make the workpiece 11 (camera body) different from arm robot 24 as object into
Row operation, thus compared with the case where only carrying out operation by arm robot 24, as automatic processing device 1, processing speed
It improves.In addition, illustrating only 1 workpiece 11 (camera body) on conveyer belt 23, but in fact, be placed with multiple in Fig. 1
Workpiece 11 (camera body).Multiple workpiece 11 (camera body) are carried out operation as object by arm robot 24 (25).
Conveyer belt 23 is in the case where workpiece 11 (camera body) is not present in the movable range of arm robot 25, by work
Part 11 (camera body) is carried to the movable range of arm robot 25, and temporarily stops.
For the workpiece 11 (camera body) integrally loaded on conveyer belt 23 with pallet 51, in pre-determined whole
When completing adjustment in 15 processing units, checking, the pallet 51 of the workpiece 11 (camera body) is carried to submitting by conveyer belt 23
Mouth 26.Positioned at the operator Y (not shown) sent out outside mouth 26 after removing workpiece 11 (camera body) from the pallet 51 being handled upside down,
Only pallet 51 is put into shell 21 from pallet return port 32.In addition, operator Y will be adjusted, be checked the 11 (camera of workpiece finished
Fuselage) it is carried to subsequent processing.
Conveyer belt 28 is driven by motor (not shown), and pallet 51 is carried along the direction arrow B.Conveyer belt 28 is by pallet
51 are carried to outlet 29.Above-mentioned operator X takes out pallet 51 from outlet 29.Operator X is by new (the camera machine of workpiece 11
Body) it is fastened on the pallet 51 of taking-up.
Arm robot 24 or arm robot 25 are worked as integrally to be installed at workpiece 11 (camera body) from pallet 51
Reason device (being 71~processing unit of processing unit 79 in Fig. 1) is when receiving anomaly detection signal, from the processing unit by workpiece
11 (camera bodies) are integrally removed with pallet 51.11 (the camera of workpiece that arm robot 24 or arm robot 25 will remove
Fuselage) it is integrally positioned on conveyer belt 27 with pallet 51.
Conveyer belt 27 is driven by motor (not shown), and pallet 51 is carried along the direction arrow C.Conveyer belt 27 will be detected
Abnormal workpiece 11 (camera body) and pallet 51 is measured integrally to be carried on conveyer belt 28.Conveyer belt 28 will test out abnormal
Workpiece 11 (camera body) and pallet 51 be integrally carried to outlet 29.Above-mentioned operator X is from outlet 29 and pallet 51
It integrally takes out and detects abnormal workpiece 11 (camera body), and be rejected to other than production line.
The series operation > of < automatic processing device
Above-mentioned automatic processing device 1 is configured to operate parallel in series.Fig. 6 is for illustrating to have linked 3 automatically
The figure of the state of processing unit 1.In the situation more than the processing unit number for being adjusted, checking to 1 workpiece 11 (camera body)
Under (for example, it is desired to processing unit number be more than that can be accommodated in 16 of shell 21), or (the camera machine of workpiece to be increased by 11
Body) production number in the case where, preferred series operation.
As explanation referring to Fig.1,3 automatic processing devices 1 are respectively provided with input port 22, outlet 29, send out mouth 26
And pallet return port 32.For input port 22 and send out mouth 26, the automatic processing device 1 of upstream side submitting mouth 26 setting with
The opposite position in the input port 22 of the automatic processing device 1 in downstream side.Similarly, for pallet return port 32 and outlet 29,
32 phase of pallet return port with the automatic processing device 1 of upstream side is arranged in the outlet 29 of the automatic processing device 1 in downstream side
Pair position.
According to Fig. 6, even if not needing in the case where making automatic processing device 1 with more series operations relative to logical yet
The case where crossing 11 individual operation of automatic processing device increases operator, as long as being located at the throwing of the automatic processing device 1 of upstream side
The operator Y this two of operator X outside entrance 22 and the automatic processing device 1 positioned at downstream side sent out outside mouth 26.
The situation > more than processing unit number that < is adjusted 1 workpiece 11 (camera body), checks
For example, in the case that the processing unit number used in adjustment, inspection is 30, in automatically processing for upstream side
Adjustment is completed by 10 processing units in device 1, is checked, is filled in next automatic processing device 1 by other 10 processing
It sets completion adjustment, check, in the automatic processing device 1 of further downstream, complete adjustment, inspection by remaining 10 processing units
It looks into, shares task between more automatic processing devices 1 in the above described manner.
Task is shared by combining identical automatic processing device 1, without newly introducing than automatic processing device 1
The automatic processing device of large-scale (30 processing units of storage), therefore it is able to suppress cost.
The situation > of the production number of < workpiece 11 (camera body) to be increased
For example, in the case that the processing unit number used in adjustment, inspection is 15, in automatically processing for upstream side
In device 1, adjustment is completed by 5 processing units, is checked, in next automatic processing device 1, is filled by other 5 processing
It sets completion adjustment, check, in the automatic processing device 1 of further downstream, complete adjustment by remaining 5 processing units, check,
Task is shared between more automatic processing devices 1 by this method.
Task is shared by combining identical automatic processing device 1, without newly introducing than automatic processing device 1
The automatic processing device of large-scale (such as with 6 arm robots), therefore it is able to suppress cost.
Embodiment from the description above can obtain function and effect below.
(1) in automatic processing device 1, there is the workpiece 11 (camera body) of the opening 15 entered for light beam and fix and be somebody's turn to do
The pallet 51 of workpiece 11 (camera body) is integrally positioned on conveyer belt 23.Arm robot 24 or arm robot 25 are from biography
Send band 23 integrally to promote workpiece 11 (camera body) with pallet 51, to workpiece 11 (camera body) be adjusted processing and
It checks multiple processing units 71~79 of processing successively rotation workpiece 11 (camera body) in a manner of with the one of pallet 51, makes to adjust
Whole processing and inspection handle the workpiece 11 (camera body) completed and pallet 51 integrally return conveyer 23.Thereby, it is possible to
To the good automatic processing device 1 of ease of use.In addition, be not fixed on pallet 51 with workpiece 11 (camera body),
But directly mounting on a moving belt, and from conveyer belt promoted, to conveyer belt return the case where compare, in automatic processing device
In 1, arm robot 24 or arm robot 25 grabbing workpiece 11 (camera body) and are carried indirectly, so as to reduce pair
Workpiece 11 (camera body) causes a possibility that damaging or polluting.
(2) arm robot 24 (25) make the opening 15 of workpiece 11 (camera body) respectively with 71~79 phase of processing unit
It is right, and by workpiece 11 (camera body) relative to processing unit 71~79 successively rotation when, via pallet 51 by workpiece 11
(camera body) manages device everywhere in being installed in multiple processing units 71~79.Moreover, multiple processing units 71~79 according to
The workpiece 11 (camera body) of secondary installation is that through hole 56 is adjusted processing and inspection department via opening possessed by pallet 51
Reason.Workpiece 11 (camera body) is installed to processing unit 71~79 via pallet 51 by arm robot 24 (25), as a result, with
Workpiece 11 (camera body) is mounted directly to everywhere in multiple processing units 71~79 not via pallet 51 and manages device
Situation is compared, and a possibility that causing to damage to workpiece 11 (camera body) or polluting can be excluded.
(3) each arm robot of arm robot 24 and 25 carries out respectively by workpiece multiple workpiece 11 (camera body)
11 (camera bodies) and pallet 51 are integrally to the processing of multiple processing units 71~79 successively rotation, each arm-type machine as a result,
People carry out by multiple workpiece 11 (camera body) each with pallet 51 integrally relative to multiple processing units 71~79
The operation of each movement and the operation of dismounting.That is, carrying out making multiple 11 (camera machines of workpiece by arm robot 24 (25)
Body) relative to the operation of multiple processing units 71~79 movement and the operation of dismounting.Therefore, dress can be automatically processed by 1
Set 1 realization for example with concurrently carry out dismounting 1 workpiece 11 (camera body) relative to 1 processing unit by multiple operators
Operation the case where same workload.
(4) due to the conveyer belt 23 by being placed with the workpiece 11 (camera body) integrated with pallet 51, from input port 22
By the movable range of arm robot 24 (25) towards the carrying of mouth 26 is sent out, so it is good to obtain ease of use
Automatic processing device 1.In addition, due to not needing the necessary movable range for expanding arm robot 24 (25) with Shangdi, so
The cost for being related to arm robot 24 (25) reduces.
(5) arm robot 25 is by workpiece 11 (camera body) that is mobile to processing unit with arm robot 24 and installing
Different workpiece 11 (camera body) is mobile to other processing units and installs.Specifically, as shown in figure 8, in arm-type machine
People 24 integrally fill 1 workpiece 11A in multiple workpiece 11 (camera body) relative to multiple processing with pallet 51
71~79 are set successively after the processing of rotation, workpiece 11A is carried to the movable range of arm robot 25 by conveyer belt 23.
At the same time, by conveyer belt 23 by the workpiece 11B in multiple workpiece 11 (camera body) be carried to arm robot 24 can
Dynamic range.At this point, arm robot 25 carry out by workpiece 11A and pallet 51 integrally relative to multiple processing units 71~79 according to
The processing of secondary rotation, and arm robot 24 is carried out workpiece 11B and pallet 51 integrally relative to multiple processing units 71
The processing of~79 successively rotations.Therefore, with only multiple workpiece to multiple processing units movements and are pacified by 1 arm robot
The case where dress, is compared, and the processing speed of automatic processing device 1 improves.
(6) in the case where keeping more automatic processing devices 1 arranged side by side, among 2 automatic processing devices 1 adjacent to each other
An automatic processing device 1 be upstream side automatic processing device 1 submitting mouth 26 and another automatic processing device 1 be under
The mode that the input port 22 of the automatic processing device 1 of trip side is opposite configures 2 automatic processing devices 1 adjacent to each other.Therefore, energy
It is enough automatically to carry workpiece 11 (camera body) from the automatic processing device 1 in automatic processing device 1 towards the downstream side of upstream side.
(7) pallet 51 includes tray seat 52 that is chimeric with the fuselage seat 13 of workpiece 11 (camera body) and fastening.Pass through support
The fastening of the fuselage seat 13 of disk seat 52 and workpiece 11 (camera body), workpiece 11 (camera body) are fixed on pallet 51.Cause
This can implement to adjust for the various workpiece 11 (camera body) with common fuselage seat 13 using common processing unit
Whole processing and/or inspection processing.
(8) pallet 51, which is included in, is mounted on multiple processing dresses for workpiece 11 (camera body) by arm robot 24 or 25
When setting in some in 71~79, in order to be promoted and arm robot 24 or 25 knots by arm robot 24 or 25
The pallet connector 53 of conjunction.Pallet connector 53 is arranged on face identical with tray seat 52.It is incited somebody to action in arm robot 24 or 25
When workpiece 11 (camera body) is installed to processing unit 71~79, arm robot 24 or 25 will not be with workpiece 11 (camera body)
Contact.Therefore, common arm robot 24 or 25 will not be such that various types of workpiece 11 (camera body) damage or impurely
To common processing unit movement and dismount.
(9) in pallet 51, workpiece 11 (camera body) is being mounted on by multiple processing by arm robot 24 or 25
The incised notch portion being arranged when in some in device 71~79 for the catcher support for processing unit and fixed tray 51
55 are formed on face identical with tray seat 52, and in order to carry out (the camera machine of workpiece 11 through arm robot 24 or 25
Body) positioning when being mounted in processing unit, the location hole of the guide pin insertion for processing unit is formed on pallet 51.Cause
This, various workpiece 11 (camera body) are not contacted with common processing unit and are damaged by common arm robot 24 or 25
Wound is impurely mounted.
(10) Fig. 9 is to carry out 71~79 pairs of workpiece 11 of multiple processing units in the automatic processing device 1 of present embodiment
When the predetermined processing of adjustment processing and the inspection processing etc. of (camera body), indicate as flow chart through arm robot 24 and
The figure of the 25 above-mentioned processing methods automatically processed that workpiece 11 (camera body) is carried out respectively.When originally automatically processing beginning,
In step S910, arm robot 24 and 25 respectively by be fixed with the one of pallet 51 of workpiece 11 (camera body) in a manner of
The workpiece 11 (camera body) with the opening 15 entered for light beam is promoted from conveyer belt 23.In step S920, arm-type machine
Workpiece 11 (camera body) and pallet 51 are integrally adjusted processing to workpiece 11 (camera body) respectively by people 24 and 25
And the successively rotation of multiple processing units 71~79 of the predetermined processing of inspection processing etc..In step S930, arm robot 24
And 25 make to complete above-mentioned predetermined processing respectively workpiece 11 (camera body) and integrally return conveyer 23 of pallet 51.
(first variation)
In the above description, the camera body of simple eye reflection-type is instantiated but it is also possible to be non-reflective as workpiece 11
Simple eye type camera body.
(the second variation)
Interchangeable lenses 12 can also be regard as workpiece 11.In adjustment in this case, inspection, for example, from being arranged on
Signal terminal (not shown) in lens mount 14 inputs defined data etc., and in interchangeable lenses 12, this side obtains defined letter
Breath.
(third variation)
Alternatively, it is also possible to replace the camera body of lens changeable, using the one-piece type camera of camera lens as workpiece 11.The situation
Under, the one-piece type camera of camera lens in the midway stage in assembling procedure is fixed on pallet, and is integrally installed with the pallet
To 71~processing unit of processing unit 79.In addition, camera, which both can be used for recording, can be used for monitoring, can also be as mould
Block carries camera unit in the electronic device.
(the 4th variation)
In the above-described embodiment, the automatic processing device 1 with 2 arm robots 24,25, but arm-type machine are instantiated
Device people can also only have 1.Fig. 7 is to instantiate the figure of the only automatic processing device 1B with 1 arm robot 25.Except arm-type
Other structures other than robot 25 are identical as automatic processing device 1.
(5th variation)
The quantity of arm robot possessed by 1 automatic processing device is not limited to above-mentioned 1 or 2, can be 3 or
4, it is also possible to the quantity or more.In addition, the quantity for the processing unit that can be mounted on 1 automatic processing device is not limited to
Above-mentioned 16 can be 4 or 10, is also possible to 20 or 30, can also be the quantity or more.
Above explanation only example, is at all not limited to the structure of above embodiment.
The disclosure of basis for priority application below is had been incorporated as citation.
Japanese patent application 2013 the 63385th (proposition on March 26th, 2013)
The explanation of appended drawing reference
1 automatic processing device
11 workpiece (camera body)
12 interchangeable lenses
21 shells
22 input ports
23,27,28 conveyer belt
24,25 arm robot
26 send out mouth
29 outlets
31 air cleaning machines
32 pallet return ports
51 pallets
52 tray seats
53 pallet connectors
54 location holes
55 incised notch portions
56 through holes (opening)
71~79 processing units
80 dismounting portions
Claims (7)
1. a kind of processing unit comprising:
Processing unit carries out predetermined processing to the Optical devices with the opening entered for light beam；With
The Optical devices are integrally promoted with the fixed station for being fixed with the Optical devices, and the optics are filled by arm
Set and integrally the processing unit installed with the fixed station, will complete the Optical devices of the predetermined processing with it is described
Fixed station is integrally removed from the processing unit.
2. processing unit as described in claim 1, which is characterized in that
The fixed station has opening,
The arm make the opening of the Optical devices across the opening of the fixed station and it is opposite with the processing unit, and right
The Optical devices are installed on the processing unit via the fixed station when processing unit installs the Optical devices,
The processing unit carries out at the regulation Optical devices installed via opening possessed by the fixed station
Reason.
3. processing unit as claimed in claim 2, which is characterized in that
The arm carries out the Optical devices and the fixed station one each Optical devices of multiple Optical devices
Body to the processing unit installation processing, thus the arm carry out by each Optical devices of multiple Optical devices with
The fixed station is integrally relative to the operation of processing unit movement and the operation of dismounting.
4. processing unit as claimed in claim 3, which is characterized in that
The processing unit includes
Input port；
Send out mouth；With
Handling device, the handling device is by the Optical devices with the fixed station integrally from the input port via described
The movable range of arm is carried towards the submitting mouth.
5. processing unit as claimed in claim 4, which is characterized in that
With multiple processing units,
The arm includes the first arm and the second arm,
It has carried out in first arm by the integrally phase of the first Optical devices and the fixed station in multiple Optical devices
After multiple processing units successively processing of rotation, first Optical devices are handled upside down by the handling device
To the movable range of second arm, and the second Optical devices in multiple Optical devices are filled by the carrying
When setting and being carried to the movable range of first arm, second arm carry out by first Optical devices with it is described
The fixed station integrally processing relative to the successively rotation of multiple processing units, and first arm is carried out second light
Learn the processing of device and the fixed station integrally relative to the successively rotation of multiple processing units.
6. processing unit as claimed in claim 5, which is characterized in that
The processing unit includes the first processing unit and second processing device, first processing unit and the second processing
Device configures adjacent to each other,
The submitting mouth of first processing unit is opposite with the input port of the second processing device.
7. a kind of automatic processing method, which is characterized in that
By arm will there are the Optical devices of the opening entered for light beam and the fixed station of the fixed Optical devices integrally to mention
It rises,
The Optical devices and the fixed station are integrally installed to the processing unit that the Optical devices are carried out with predetermined processing,
The Optical devices and fixed station one of the predetermined processing will be completed from the processing unit by the arm
Ground removes.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013063385 | 2013-03-26 | ||
| JP2013-063385 | 2013-03-26 | ||
| CN201480030167.0A CN105263670B (en) | 2013-03-26 | 2014-03-25 | Automatic processing device, automatic processing method and pallet |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480030167.0A Division CN105263670B (en) | 2013-03-26 | 2014-03-25 | Automatic processing device, automatic processing method and pallet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108942205A true CN108942205A (en) | 2018-12-07 |
| CN108942205B CN108942205B (en) | 2020-11-27 |
Family
ID=51624159
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810606341.1A Pending CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
| CN201480030167.0A Active CN105263670B (en) | 2013-03-26 | 2014-03-25 | Automatic processing device, automatic processing method and pallet |
| CN201810608694.5A Active CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810606341.1A Pending CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
| CN201480030167.0A Active CN105263670B (en) | 2013-03-26 | 2014-03-25 | Automatic processing device, automatic processing method and pallet |
Country Status (3)
| Country | Link |
|---|---|
| JP (3) | JP6337884B2 (en) |
| CN (3) | CN108907701A (en) |
| WO (1) | WO2014157189A1 (en) |
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| JP6220216B2 (en) * | 2013-10-15 | 2017-10-25 | 川崎重工業株式会社 | Camera inspection jig |
| EP3290168A4 (en) * | 2015-04-28 | 2018-12-12 | Seiko Epson Corporation | Robot system and robot |
| JP6540196B2 (en) * | 2015-04-28 | 2019-07-10 | セイコーエプソン株式会社 | Robot system |
| JP2016203347A (en) * | 2015-04-28 | 2016-12-08 | セイコーエプソン株式会社 | Robot system and robot |
| JP2016203348A (en) * | 2015-04-28 | 2016-12-08 | セイコーエプソン株式会社 | Robot system |
| CN109688885B (en) | 2016-08-14 | 2022-06-07 | 发那科株式会社 | Tableware cleaning system |
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Also Published As
| Publication number | Publication date |
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| JP2018158440A (en) | 2018-10-11 |
| JP6870713B2 (en) | 2021-05-12 |
| CN105263670B (en) | 2018-07-06 |
| JPWO2014157189A1 (en) | 2017-02-16 |
| WO2014157189A1 (en) | 2014-10-02 |
| JP6337884B2 (en) | 2018-06-06 |
| JP2020078863A (en) | 2020-05-28 |
| JP6601532B2 (en) | 2019-11-06 |
| CN105263670A (en) | 2016-01-20 |
| CN108942205B (en) | 2020-11-27 |
| CN108907701A (en) | 2018-11-30 |
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