JP2007090447A - Robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot system which machines a predetermined product by making a plurality of robots correspond to two or more devices required for machining a work such as a bending machine, a metal mold exchanger, and a welding machine, easily increases the number of devices and robots, improves the utilization of the plurality of devices, and further continuously machines a single type or two or more types of products at the same time so as to cope with various production systems. <P>SOLUTION: In this robot system, a plurality of robots ROB1, ROB2 are disposed, and a plurality of devices are disposed like a ring around the plurality of robots ROB1, ROB2. A plurality of devices are disposed circularly around the plurality of robots ROB1, ROB2, and areas A1, A2, A3 required for operating the robots ROB1, ROB2 are set in front of the respective devices. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a robot system that processes a predetermined product by causing a plurality of robots to correspond to a plurality of apparatuses necessary for processing a workpiece such as a bending machine, a die changer, and a welding machine.

  Conventionally, a robot system that processes a predetermined product by associating a plurality of robots with a plurality of apparatuses necessary for processing a workpiece such as a bending machine is disclosed in, for example, Japanese Utility Model Publication No. 2-33392. 2 and 3).

This robot system has a travel axis extending in the left-right direction, and the robot performs processing while moving in the left-right direction on the travel axis.
No. 2-333927

(1) When a plurality of devices are added, the traveling axis must be extended, and a plurality of devices cannot be easily added.

  However, in the robot system disclosed in Japanese Utility Model Publication No. 2-333927, devices such as a bending machine (press brake) are arranged along a traveling axis extending in the left-right direction.

  Therefore, when an attempt is made to add a device, in order to make the robot correspond to the added device, the travel axis on which the robot travels must be extended in the left-right direction.

  As a result, each time a device is added, a troublesome work such as extending the traveling axis is required, and there are various adverse effects such as a large work load and a corresponding increase in cost.

  Therefore, in a conventional robot system, a plurality of devices cannot be easily added.

(2) Multiple robots cannot be added easily.
Furthermore, in a conventional robot system, a plurality of robots cannot be easily added.

  For example, as shown in FIG. 3 of the Japanese Utility Model Publication No. 2-333927, when one robot is movable on each of a pair of travel axes, two robots are used as shown in the figure. Suppose there is.

  In this case, if another robot is to be added, it is necessary to add a pair of traveling axes.

  As a result, each time a robot is added, a troublesome work such as adding a traveling axis is required, and similarly, there are various adverse effects such as a heavy work load and a corresponding increase in cost.

  In addition, in the case of FIG. 3 of the above-mentioned actual fair No. 2-333927, since one robot is movable on each of the pair of traveling axes, every time a robot is added, The distance between the robot and each device 37 (FIG. 3 of the above-mentioned actual Japanese Utility Model Application No. 2-333927), 3c, 3d, and 3e is increased.

  As a result, the grip for gripping the workpiece of the added robot also has a long distance to move to each of the above devices, and in order to increase the movement distance of the grip, the arm to which the grip is attached is lengthened, There is a detrimental effect that the structure of the robot must be changed, such as increasing the number, and the robot needs to be modified each time.

  As described above, in the conventional robot system, when a robot is added, it is necessary to perform an extremely troublesome work such as adding a traveling axis or modifying the robot itself. Therefore, a plurality of robots can be easily added. Can not.

(3) There is a limit to devices shared by a plurality of robots, and the utilization efficiency of the devices is low.

  In addition, when a plurality of devices arranged in the left-right direction are to be shared by a plurality of robots, each robot moves in the left-right direction, which may cause interference with each other. is there.

  For example, suppose that three press brakes are installed when two robots are movable on a pair of travel axes as shown in FIG.

  At this time, as shown in FIG. 11 of the present application, obviously, only the middle press brake 50B with hatching is an apparatus that can be shared by the two robots 52A and 52B.

  That is, when the left robot 52A is processing the workpiece W with the left end press brake 50A, the right robot 52B can process the workpiece W with the right end press brake 50C or the middle press brake 50B. it can.

  When the right robot 52B is machining the workpiece W with the right end press brake 50C, the left robot 52A may machine the workpiece W with the left end press brake 50A or the middle press brake 50B. it can.

  Therefore, as described above, the middle press brake 50B with the diagonal lines can be used by the right robot 52B when the left robot 52A is using the left end press brake 50A, When the right robot 52B is using the rightmost press brake 50C, the left robot 52A can be used and can be shared by the left and right robots 52A and 52B.

  However, in the case of FIG. 11, since the two robots 52A and 52B are movable on the pair of travel axes 51, the robot 52A can be moved to the right side beyond the robot 52B. The robot 52B cannot be moved to the left side beyond the robot 52A, and therefore the positions of both robots 52A and 52B cannot be interchanged.

  For this reason, when the robot 52A tries to process the workpiece W with the press brake 50C, the robot 52B cannot move to the front of the press brakes 50B and 50A, so the robot 52B interrupts the processing of the workpiece W. There must be.

  Further, when the robot 52B tries to process the workpiece W with the press brake 50A, the robot 52A cannot move to the front of the press brakes 50B and 50C, so the robot 52A must interrupt the processing of the workpiece W. I must.

  Thus, in the conventional robot system, when three devices 50A, 50B and 50C are installed, the devices 50A and 50C at both ends are dedicated machines for the respective robots 52A and 52B, and the middle device Only the device 50B can share, and a device that can be shared and a dedicated machine cannot be arbitrarily specified.

  As a result, in the conventional robot system, there are limitations on devices that can be shared by a plurality of robots. For example, when the robot 52A uses the press brake 50C (FIG. 11 of the present application), the robot 52B uses the press brake 50A. When the robot 52B is using the press brake 50A, the robot 52A cannot use the press brake 50B or 50C, so the right end press brake 50C and the left end press brake 50A can be shared. In the end, since it is not possible to arbitrarily designate a sharable device and a dedicated machine, the utilization efficiency of a plurality of devices is extremely low.

(4) It may be difficult to process a single type or a plurality of types of products simultaneously and continuously, and may not be compatible with various production systems.

  Furthermore, for example, in a robot system in which two robots and three devices are installed (FIG. 11), as described above, two robots cannot share all three devices. It is difficult to process products continuously in time.

  If the entire product is processed, as described above, it is difficult to process the product continuously at the same time. It is clear that it is late.

  As a result, conventional robot systems cannot adequately cope with mass production systems such as mass production of products within a certain time, and in general, various production systems (for example, small-variety mass production) May not be possible.

  An object of the present invention is a robot system that processes a predetermined product by making a plurality of robots correspond to a plurality of devices necessary for processing a workpiece such as a bending machine, a die changer, and a welding machine. Multiple devices and multiple robots can be added easily, improving the efficiency of using multiple devices, and by simultaneously processing a single type or multiple types of products simultaneously to support various production systems Provide a robot system that can.

In order to solve the above problems, the present invention provides:
According to a first aspect of the present invention, there is provided a robot system characterized in that a plurality of robots ROB1 and ROB2 and a plurality of devices are arranged in a ring shape around the plurality of robots ROB1 and ROB2.

  According to the configuration of the present invention, for example, as shown in FIGS. 1 and 2, a plurality of devices are arranged in a circle around the plurality of robots ROB1 and ROB2, and a robot is placed in front of each device. Since the areas A1, A2, and A3 necessary for the operation of ROB1 and ROB2 are set, the robots ROB1 and ROB2 installed near the center position C of the circle do not move as a whole. Since there is no axis corresponding to (for example, FIG. 11), it is possible to add a plurality of devices without extending the traveling axis, and to install a plurality of robots without adding a traveling axis or modifying the robot itself. Is it possible to increase the number of devices, and as described above, is a plurality of robots ROB1 and ROB2 centered, for example, in a circular shape, that is, a plurality of devices arranged on a certain circumference? Any device can be shared (FIG. 4), and a device that can be shared and a dedicated machine can be arbitrarily specified, so that the use efficiency of a plurality of devices is improved. Further, for example, as shown in FIG. The three units are press brakes PB1, PB2, and PB3, which have the same function, and each of the robots ROB1 and ROB2 processes a single type of product simultaneously and continuously using each device. For example, as shown in FIG. 6, a plurality of devices are press brakes PB1, PB2, and PB3, all of which have the same function, but by sharing the press brake PB3, Various types of products can be processed continuously at the same time, thereby being able to cope with various production systems.

  As described above, according to the present invention, a predetermined product is processed by causing a plurality of robots to correspond to a plurality of devices necessary for processing a workpiece such as a bending machine, a die changer, and a welding machine. In a robot system, multiple devices and multiple robots can be easily added to improve the utilization efficiency of multiple devices, and by making it possible to process single types or multiple types of products simultaneously and continuously, The effect is to provide a robot system that can support the production system.

Hereinafter, the present invention will be described with reference to the accompanying drawings by embodiments.
FIG. 1 is an overall perspective view of the present invention, and the robot system shown includes a plurality of robots ROB1 and ROB2 and a plurality of devices arranged in an annular shape around the plurality of robots ROB1 and ROB2.

  In the illustrated example, three press brakes PB1, PB2, and PB3 are arranged in a circular shape, that is, on a certain circumference, centering on two robots ROB1 and ROB2, and in front of each device are robots ROB1. Areas A1, A2, and A3 necessary for the operation of ROB2 are set.

  The robots ROB1 and ROB2 are installed on the base 1 located at the center C of the circle, and are, for example, an articulated robot having a torso 6, a lower arm 5, an upper arm 4, and a wrist 3. The wrist 3 is provided with a grip 2 for gripping the workpiece W.

  In addition to the above three press brakes PB1, PB2, and PB3, the material supply device LD1 and product carry-out device UL1 for the robot ROB1, the material supply device LD2 and product carry-out device UL2 for the robot ROB2, respectively have the same circumference. Is placed on top.

  As is well known, the press brakes PB1, PB2, PB3 have an upper table 12 to which an upper punch P is attached and a lower table 13 to which a die D is attached, and grips 2 of the robots ROB1 and ROB2. After the workpiece W gripped in step S2 is inserted between the punch P and the die D and abutted against the abutment 7 of the back gauge and positioned, for example, the upper table 12 is lowered to lower the punch P and the die D. Then, the workpiece W is bent.

  The material supply devices LD1 and LD2 are, for example, workpiece picking devices, and each workpiece W is sucked one by one by a vacuum pad and transferred to the robots ROB1 and ROB2.

  Then, the robots ROB1 and ROB2 grip the workpiece W received from the corresponding material supply devices LD1 and LD2 with the grip 2, and put the predetermined amount on the body 6, the lower arm 5, the upper arm 4 and the wrist 3 described above. By performing the operation, the grip 2 holding the workpiece W is moved to the areas A1, A2, A3 in front of the press brakes PB1, PB2, PB3, and the workpiece W is inserted between the punch P and the die D. Bending is performed by abutting against the back gauge abutment 5.

  The bent product S is gripped by the grips 2 of the robots ROB1 and ROB2, and the grip 2 gripping the product S moves to the product carry-out devices UL1 and UL2.

  The product carry-out devices UL1, UL2 are, for example, carry-out conveyors. When the product S gripped by the grip 2 of the robots ROB1, ROB2 is released from the grip 2 and dropped onto the carry-out conveyor, the product S Carry it out.

(1) FIG. 4 shows a first embodiment of the present invention, in which a plurality of devices have the same function, and each of the plurality of robots ROB1 and ROB2 uses each device to produce a single type of product. This is the case of continuous processing at the same time.

  In this case, the plurality of devices are the press brakes PB1, PB2, and PB3 described above, all of which perform normal bending (for example, acute angle bending) and have the same function.

  Each robot ROB1, ROB2 uses all of the press brakes PB1, PB2, PB3 (FIGS. 4A to 4D), and processes a single type of product simultaneously and continuously.

  In FIG. 4, press brakes PB1, PB2, and PB3 are arranged on the circumference, and material supply devices LD1 and LD2 and product carry-out devices UL1 and UL2 are arranged counterclockwise from the leftmost press brake PB1. They are arranged in order on the circumference.

  In FIG. 4, the solid line represents the operation of the robot ROB1, and the broken line represents the operation of the robot ROB2.

  For example, in the case of FIG. 4A, of the robots ROB1 and ROB2 installed in the vicinity of the center position C of the circle, the robot ROB1 picks up the workpiece W to the material supply device LD1 and grips the workpiece W. 2 (FIG. 3), the grip 2 is moved to the press brake PB1 side and the gripped workpiece W is bent. At the same time, the robot ROB2 goes to the material supply device LD2 to pick up the workpiece W. The operation | movement hold | gripped with the grip 2 is each represented.

  As described above, the solid line represents the operation of the robot ROB1 and the broken line represents the operation of the robot ROB2, as in FIGS. 6 (second embodiment) and 9 (third embodiment).

  In FIG. 5, FIG. 5 (A) shows the operation of the robot ROB1, FIG. 5 (B) shows the operation of the robot ROB2, and (A) to (D) on the left are FIGS. 4 (D), and the operations in the blocks at the same position, for example, the operations of Step 103 and Step 201, Step 104 and Step 202, etc. are performed at the same time, and the robots ROB1 and ROB2 are mutually connected. This is an operation performed synchronously.

  The same applies to FIGS. 6 to 8 (second embodiment) and FIGS. 9 to 10 (third embodiment) described later.

  The operation of the first embodiment of the present invention having the above configuration will be described below with reference to FIGS.

(1) -A A bending operation in the press brake PB1 of the robot ROB1 and a workpiece receiving operation in the material supply device LD2 of the robot ROB2.

  First, in FIG. 5, the robots ROB1 and ROB2 start to operate at the same time, and one robot ROB1 receives the LD. The PRG is read and the LD operation is performed in step 102. During this time, the other robot ROB2 is on standby without performing any specific operation (FIG. 5B), and one robot ROB1 presses in step 103. PB1 used in brake PB1. When the PRG is read and the PB1 operation is performed at step 104, the other robot ROB2 synchronizes with these operations and the LD. The PRG is read and the LD operation is performed in step 202.

  That is, for example, when the operator presses the start button, the NC device 25 (FIG. 2) that detects it starts the robots ROB1 and ROB2 simultaneously, and the robot ROB1 is operated by the material supply device LD1 (FIG. 4 (A)) A program LD. By reading the PRG, the robot ROB1 receives the workpiece W from the material supply device LD1 and grips it with the grip 2. During this time, the robot ROB2 issues a standby command to wait.

  Next, the NC device 25 (FIG. 2) sends a program PB1... For bending with the press brake PB1 to the robot ROB1. By reading the PRG, the grip 2 that grips the workpiece W is moved to the area A1 set in front of the press brake PB1, whereby the robot ROB1 bends the workpiece W with the press brake PB1.

  Further, the NC device 25 (FIG. 2) sends a program LD. For receiving the workpiece W by the material supply device LD2 (FIG. 4A) to the robot ROB2 in synchronism with each operation of the robot ROB1. By reading the PRG, the empty grip 2 is moved to the front of the material supply device LD2, whereby the robot ROB2 receives the workpiece W from the material supply device LD2 and holds it with the grip 2.

  In this way, the robot ROB1 (FIG. 4A) moves the grip 2 that grips the workpiece W from the material supply device LD1 to the press brake PB1 side, bends the workpiece W with the press brake PB1, The robot ROB2 moves the empty grip 2 to the material supply device LD2, receives the workpiece W from the material supply device LD2, and holds it with the grip 2.

(1) -B Bending operation in the press brake PB2 of the robot ROB1 and a bending operation in the press brake PB1 of the robot ROB2.

  Next, in FIG. 5, one robot ROB1 uses PB2. When the PRG is read and the PB2 operation is performed in step 106, the other robot ROB2 synchronizes with these operations and the PB1. The PRG is read, and the PB1 operation is performed in step 204.

  That is, when the NC device 25 (FIG. 2) detects that the robot ROB1 has completed the PB1 operation in step 104 of FIG. 5 and the robot ROB2 has completed the LD operation in step 202, the NC device 25 performs the following to the robots ROB1 and ROB2. Let's do the operation.

  First, for the robot ROB1, a program PB2. By reading the PRG, the grip 2 holding the work W is moved to the area A2 set in front of the press brake PB2 (FIG. 4B), whereby the robot ROB1 uses the press brake PB2 to move the work. W is bent.

  Next, for the robot ROB2, a program PB1... For bending with the press brake PB1 in synchronization with each operation of the robot ROB1. By reading the PRG, the grip 2 holding the work W is moved to the area A1 set in front of the press brake PB1 (FIG. 4B), whereby the robot ROB2 moves the work with the press brake PB1. W is bent.

  In this way, the robot ROB1 (FIG. 4B) moves the grip 2 that grips the workpiece W from the press brake PB1 side to the press brake PB2 side, and bends the workpiece W with the press brake PB2, The robot ROB2 moves the grip 2 holding the workpiece W from the material supply device LD2 side to the press brake PB1 side, and bends the workpiece W with the press brake PB1.

(1) -C Bending operation in press brake PB3 of robot ROB1 and bending operation in press brake PB2 of robot ROB2.

  Next, in FIG. 5, one robot ROB 1 uses PB 3. When the PRG is read and the PB3 operation is performed in step 108, the other robot ROB2 synchronizes with these operations and the PB2. The PRG is read and the PB2 operation is performed in step 206.

  That is, when the NC device 25 detects that the robot ROB1 has completed the PB2 operation in step 106 in FIG. 5 and the robot ROB2 has completed the PB1 operation in step 204, the NC device 25 performs the following to the robots ROB1 and ROB2. Let's do the operation.

  First, for the robot ROB1, a program PB3. By reading the PRG, the grip 2 holding the work W is moved to the area A3 set in front of the press brake PB3 (FIG. 4C), whereby the robot ROB1 moves the work with the press brake PB3. W is bent.

  Next, for the robot ROB2, a program PB2... For bending with the press brake PB2 in synchronization with each operation of the robot ROB1. By reading the PRG, the grip 2 holding the workpiece W is moved to the area A2 set in front of the press brake PB2 (FIG. 4C), whereby the robot ROB2 moves the workpiece with the press brake PB2. W is bent.

  As described above, the robot ROB1 (FIG. 4C) moves the grip 2 gripping the workpiece W from the press brake PB2 side to the press brake PB3 side, and bends the workpiece W with the press brake PB3. The robot ROB2 moves the grip 2 holding the workpiece W from the press brake PB1 side to the press brake PB2 side, and bends the workpiece W with the press brake PB2.

(1) -D Product unloading operation in the product unloading device UL1 of the robot ROB1, and bending operation in the press brake PB3 of the robot ROB2.

  Further, in FIG. 5, one robot ROB 1 receives UL. When the PRG is read and the UL operation is performed in step 110, the other robot ROB2 synchronizes with these operations, and the other robot ROB2 uses PB3. PRG is read and PB3 operation is performed in step 208.

  That is, the NC device 25 (FIG. 2) detects that the robot ROB1 has finished the PB3 operation in step 108 of FIG. 5 and the robot ROB2 has finished the PB2 in step 206. Let the action take place.

  First, for the robot ROB1, a program UL. By reading the PRG, the grip 2 that holds the product S is moved above the product carry-out device UL1 (FIG. 4D), whereby the robot ROB1 moves the product S above the product carry-out device UL1. The product S is unloaded by releasing it from the grip 2 and dropping it.

  Next, for the robot ROB2, a program PB3... For bending with the press brake PB3 in synchronization with each operation of the robot ROB1. By reading the PRG, the grip 2 holding the work W is moved to the area A3 set in front of the press brake PB3 (FIG. 4D), whereby the robot ROB2 moves the work with the press brake PB3. W is bent.

  As described above, the robot ROB1 (FIG. 4D) moves the grip 2 holding the workpiece W from the press brake PB3 side to the product unloading device UL1 side, and unloads the product S by the product unloading device UL1. The robot ROB2 moves the grip 2 holding the workpiece W from the press brake PB2 side to the press brake PB3 side, and bends the workpiece W with the press brake PB3.

  Thereafter, the robot ROB1 returns to step 101 in FIG. 5 to bend the next workpiece W, and the robot ROB2 carries out the program UL for unloading the product S by the product unloading device UL2 in step 209 in FIG. . By reading the PRG, after carrying out the product S in step 210, the process returns to step 201 in FIG. 5 in order to bend the next workpiece W.

(2) FIG. 6 shows a second embodiment of the present invention, wherein a plurality of devices have the same function, and each of the plurality of robots ROB1 and ROB2 uses a device shared with the corresponding device. This is the case where different types of products are processed continuously at the same time.

  In FIG. 6, press brakes PB1, PB2, and PB3 are arranged on the circumference, and from the leftmost press brake PB1 in the counterclockwise direction, the material supply device LD1 for the robot ROB1, the product carry-out device UL1, and the robot A product carry-out device UL2 for ROB2 and a material supply device LD2 are sequentially arranged on the circumference.

  The second embodiment is common to the first embodiment (FIGS. 4 and 5) described above in that a plurality of devices are press brakes PB1, PB2, and PB3 and have the same function. The robots ROB1 and ROB2 do not use all the devices but share some devices (for example, press brake PB3), and each robot ROB1 and ROB2 has a corresponding device (for example, the robot ROB1 uses the press brake PB1). The robot ROB2 uses the press brake PB2), and the two embodiments are different from each other in that a plurality of types of products are processed simultaneously instead of a single type of product.

  That is, the shared device is the press brake PB3. In addition to the press brake PB3, the robot ROB1 uses the press brake PB1, and the robot ROB2 uses the press brake PB2.

  The robot ROB1 moves the grip 2 in the order of the material supply device LD1 → press brake PB1 → PB3 → product unloading device UL1, and the robot ROB2 moves the grip 2 in the order of the material supply device LD2 → press brake PB3 → PB2 → product unloading device UL2. (FIGS. 6A to 6C), and therefore, there is a possibility that both robots ROB1 and ROB2 interfere with each other.

  For this reason, as will be described later (steps 304 and 404 in FIG. 7 (interference check 1 in FIG. 8A) and the like), both robots ROB1 and ROB2 confirm their positions with each other to confirm their movements. A check for avoiding interference is performed.

  In other words, unlike FIG. 4, in the case of FIG. 6, both robots ROB <b> 1 and ROB <b> 2 may interfere based on the operating state of the grip 2 that grips the workpiece W.

  Accordingly, in order to smoothly perform the operations of both the robots ROB1 and ROB2, for each robot, for example, before the operation before performing the operations such as the PB1 operation (step 305 in FIG. 7) and the PB3 operation (step 405 in FIG. 7). Interference check 1 (FIG. 8A) is required, and for the adjacent robots, for example, PB3 operation (step 308 in FIG. 7), PB2 operation (step 408 in FIG. 7), and the like are performed. Interference check 2 during operation (FIG. 8B) is required during operation.

  The operation of the second embodiment of the present invention having the above configuration will be described below with reference to FIGS.

(2) -A Bending operation in the press brake PB1 of the robot ROB1 and a bending operation in the press brake PB3 of the robot ROB2.

  First, in FIG. 7, the robots ROB1 and ROB2 start to operate at the same time, and one robot ROB1 performs LD. PRG is read, LD operation is performed in step 302, and PB1. PRG is read, interference check 1 is performed in step 304, PB1 operation is performed in step 305, and in synchronization with these operations, the other robot ROB2 performs LD. PRG is read, LD operation is performed in step 402, and PB3. The PRG is read, interference check 1 is performed in step 404, and PB3 operation is performed in step 405.

  That is, similarly, when the operator presses the start button, the NC device 25 (FIG. 2) that detects it starts the robots ROB1 and ROB2 simultaneously, and performs the following operations on the robots ROB1 and ROB2. Make it.

  First, for the robot ROB1, the program LD. For receiving the workpiece W by the material supply device LD1 (FIG. 6A). By reading the PRG, a program PB1... For bending with the press brake PB1 while receiving the workpiece W from the material supply device LD1 and holding it with the grip 2. After reading the PRG, the interference check 1 described later is performed (FIG. 8A), and then the grip that grips the workpiece W in the area A1 set in front of the press brake PB1 (FIG. 6A). 2 is moved so that the robot ROB1 bends the workpiece W with the press brake PB1.

  Next, for the robot ROB2, in synchronization with each operation of the robot ROB1, the material supply apparatus LD2 (FIG. 6A) program LD. By reading the PRG, a program PB3... For bending with the press brake PB3 while receiving the workpiece W from the material supply device LD2 and holding it with the grip 2. After reading the PRG, similarly, an interference check 1 described later is performed (FIG. 8A), and then the workpiece W is moved to the area A3 set in front of the press brake PB3 (FIG. 6A). The grip 2 thus gripped is moved, whereby the robot ROB2 bends the workpiece W with the press brake PB3.

  As described above, the robot ROB1 (FIG. 6A) moves the grip 2 gripping the workpiece W from the material supply device LD1 side to the press brake PB1 side, bends the workpiece W with the press brake PB1, The robot ROB2 moves the grip 2 holding the work W from the material supply device LD2 side to the press brake PB3 side, and bends the work W by the press brake PB3.

  In this case, the robots ROB1 and ROB2 perform the interference check 1 shown in FIG. 8A before performing the PB1 operation and the PB3 operation in steps 305 and 405 in FIG. 7 (steps 304 and 404 in FIG. 7). .

  For example, when the robot is ROB1 and the opponent robot is ROB2, the NC device 25 (FIG. 2) confirms the movement range of the opponent robot ROB2 (step 501 in FIG. 8A).

  As a result of confirmation, the current position of the opponent robot ROB2 is above the workpiece picking device which is the material supply device LD2, and PB3. Since it is apparent that the PRG is being read and then moved to the press brake PB3 side, the movement range of the opponent robot ROB2 is an area including the broken line in FIG. 6A showing the operation of the opponent robot ROB2. It turns out that it is A5 and A3.

  As a result, when viewed from the robot ROB1, the movement ranges A5 and A3 are set as interference regions (step 502 in FIG. 8A).

  Then, the NC device 25 (FIG. 2) prevents the robot ROB1 from passing through the interference areas A5 and A3 of the set partner robot ROB2 (FIG. 6A), thereby moving the robot ROB1. For example, A4 and A1 in FIG. 6 (A) are determined (step 503 in FIG. 8 (A)), and based on this, as shown by the operation direction, for example, the solid line in FIG. 6 (A), the material supply device LD1 After retreating from a single workpiece picking device, the operation direction is determined (step 504 in FIG. 8A) by confirming that it turns to the left and heads toward the press brake PB1 (step 504 in FIG. 8A). 505).

  Each operation in the interference check 1 is exactly the same even when the robot is ROB2 and the opponent robot is ROB1.

  Thereby, the robots ROB1 and ROB2 operate smoothly without interfering with each other, the robot ROB1 (FIG. 6A) bends the workpiece W with the press brake PB1, and the robot ROB2 presses the press brake. The workpiece W can be bent with PB3.

(2) -B Bending operation in the press brake PB3 of the robot ROB1 and bending operation in the press brake PB2 of the robot ROB2.

  Next, in FIG. 7, one robot ROB 1 uses PB 3. PRG is read, interference check 1 is performed in step 307, PB3 operation is performed in step 308, and simultaneously, interference check 2 is performed in step 308A. In synchronization with these operations, the other robot ROB2 presses in step 406. PB2 used for brake PB2. The PRG is read, interference check 1 is performed in step 407, PB2 operation is performed in step 408, and interference check 2 is performed in step 408A.

  That is, when the NC device 25 detects that the robot ROB1 has completed the PB1 operation in step 305 in FIG. 7 and the robot ROB2 has completed the PB3 operation in step 405, respectively, the NC device 25 performs the following to the robots ROB1 and ROB2. Let's do the operation.

  First, for the robot ROB1, a program PB3. After reading the PRG, the above-described interference check 1 is performed (FIG. 8A), and then the grip 2 that grips the workpiece W in the area A3 set in front of the press brake PB3 (FIG. 6B). As a result, the robot ROB1 performs the interference check 2 simultaneously with bending the workpiece W by the press brake PB3.

  Next, for the robot ROB2, a program PB2... For bending with the press brake PB2 in synchronization with each operation of the robot ROB1. After reading the PRG, similarly, the above-described interference check 1 is performed (FIG. 8A), and then the workpiece W is held in the area A2 set in front of the press brake PB2 (FIG. 6B). Thus, the robot ROB2 performs the interference check 2 simultaneously with bending the workpiece W by the press brake PB2.

  In this way, the robot ROB1 (FIG. 6B) moves the grip 2 gripping the workpiece W from the press brake PB1 side to the press brake PB3 side, and bends the workpiece W with the press brake PB3, The robot ROB2 moves the grip 2 gripping the workpiece W from the press brake PB3 side to the press brake PB2 side, and bends the workpiece W with the press brake PB2.

  In that case, similarly, before the robots ROB1 and ROB2 perform the PB3 operation and the PB2 operation in steps 308 and 408 in FIG. 7 (steps 307 and 407 in FIG. 7), the interference check shown in FIG. 1 is done.

  For example, similarly, when the robot is ROB1 and the opponent robot is ROB2, the NC device 25 (FIG. 2) confirms the movement range of the opponent robot ROB2 (step 501 in FIG. 8A), If it is found that the movement range is the areas A3 and A2 including the broken line in FIG. 6B indicating the operation of the opponent robot ROB2, the movement range A3 and A2 is defined as the interference area when viewed from the robot ROB1. (Step 502 in FIG. 8A).

  Similarly, the NC device 25 (FIG. 2) prevents the robot ROB1 from passing through the set interference areas A3 (FIG. 6B) and A2 at the same time as the opponent robot ROB2. Thus, the areas A1, A4, A6, A7, A5, and A3 in FIG. 6B, which are the movement range of the robot ROB1, are determined (step 503 in FIG. 8A), and based on that, FIG. ) Is confirmed (step 504 in FIG. 8A) to determine the operation direction (step 505 in FIG. 8A).

  Further, in the case of FIG. 6B, since the robots ROB1 and ROB2 use adjacent press brakes PB3 and PB2 and process different types of products, the robots ROB1 and ROB2 are being processed. The posture is also different.

  Therefore, while the robots ROB1 and ROB2 are performing the PB3 operation and the PB2 operation in step 308 and step 408 in FIG. 7, there is a possibility that the robots ROB1 and ROB2 may interfere with each other. Steps 308A and 408A) of FIG. 7 and interference check 2 shown in FIG. 8B are performed.

  For example, similarly, when the robot is ROB1 and the opponent robot is ROB2, the NC device 25 (FIG. 2) selects the area n to which the current position of the robot ROB1 belongs, for example, A3 (FIG. 6B). In addition to confirmation (step 601 in FIG. 8B), the area n + 1 to which the current position of the opponent robot ROB2 belongs, or n-1, for example, the area A2 (FIG. 6B) that is n−1 is confirmed (FIG. 6B). 8 (B) YES in step 602)).

  Further, the NC device 25 (FIG. 2) confirms the posture of the opponent robot ROB2 (step 603 in FIG. 8B) and determines whether or not they interfere (step 604 in FIG. 8B). In the case of interference (YES), the operations of both robots ROB1 and ROB2 are stopped (step 605 in FIG. 8B).

  Thereby, interference of both robots ROB1 and ROB2 is avoided.

  In this state, the operator clarifies the cause of the interference and, for example, finds that the robots ROB1 and ROB2 interfere because the opponent robot ROB2 is too close to the right side of the press brake PB2 (FIG. 6B). .

  In this case, the worker changes the position of the mold by moving the mold currently used by the opponent robot ROB2 slightly to the left, for example.

  Then, the operator notifies the opponent robot ROB2 of a new operation such as changing the position of the grip 2 that grips the workpiece W so as to perform bending with the die after the position change (FIG. 8). After step 606 in (B) and the partner robot ROB2 receives the notification (YES in step 607 in FIG. 8B), the partner robot ROB2 (FIG. 6B) performs a new operation to The ROB 1 continues machining by the same operation as before (step 608 in FIG. 8B).

  Thus, by performing the interference check 1 before the operation (FIG. 8A) and the interference check 2 during the operation (FIG. 8B), the robots ROB1 and ROB2 do not interfere with each other. The robot ROB1 can bend smoothly and the workpiece RO can be bent by the press brake PB2, and the robot ROB2 can be bent by the press brake PB2.

  In the interference check 2 (FIG. 8B), if the current position area of the opponent robot ROB2 is neither n + 1 nor n−1 in step 602 (NO), for example, the current position area of the robot ROB1 Is A3 (FIG. 6B), the current position area of the opponent robot ROB2 is A1 which is not adjacent to the A3, and there is no possibility that the robots ROB1 and ROB2 interfere with each other. In addition, as a result of confirming the posture of the opponent robot ROB2 (step 603), when both robots ROB1 and ROB2 do not interfere (NO in step 604), in both cases, both robots ROB1 and ROB2 The processing is continued by the same operation as (step 608).

(2) -C Product unloading operation in the product unloading device UL1 of the robot ROB1, and product unloading operation in the product unloading device UL2 of the robot ROB2.

  Further, in FIG. 7, one robot ROB 1 receives UL. When the PRG is read and interference check 1 is performed in step 310 and UL operation is performed in step 311, the other robot ROB 2 is synchronized with these operations in step 409. The PRG is read, interference check 1 is performed at step 410, and UL operation is performed at step 411.

  That is, when the NC device 25 detects that the robot ROB1 has completed the PB3 operation in step 308 of FIG. 7 and the robot ROB2 has completed the PB2 operation in step 408, the NC device 25 performs the following to the robots ROB1 and ROB2. Let's do the operation.

  First, for the robot ROB1, a program UL. After reading the PRG, the above-described interference check 1 is performed (FIG. 8A), and then the grip 2 holding the product S is moved above the product carry-out device UL1 (FIG. 6C). Thereby, the robot ROB1 carries out the product S by releasing the product S from the grip 2 and dropping it above the product carrying-out device UL1.

  Next, for the robot ROB2, in synchronization with each operation of the robot ROB1, the program UL. After reading the PRG, the above-described interference check 1 is performed (FIG. 8A), and then the grip 2 holding the product S is moved above the product carry-out device UL2 (FIG. 6C). Thereby, the robot ROB2 carries out the product S by releasing the product S from the grip 2 and dropping it above the product carrying-out device UL2.

  Also in this case, similarly, before the robots ROB1 and ROB2 perform the UL operation in steps 311 and 411 in FIG. 7 (steps 310 and 410 in FIG. 7), the interference check 1 shown in FIG. I do.

  For example, similarly, when the robot is ROB1 and the opponent robot is ROB2, the NC device 25 (FIG. 2) confirms the movement range of the opponent robot ROB2 (step 501 in FIG. 8A), If it is found that the movement range is areas A2, A3, A5, A7 including the broken line in FIG. 6C indicating the operation of the opponent robot ROB2, the movement range A2, A3, A5, and A7 are set as interference areas (step 502 in FIG. 8A).

  Then, the NC device 25 (FIG. 2) similarly prevents the robot ROB1 from passing through the set interference areas A2, A3, A5, A7 at the same time as the opponent robot ROB2. The areas A3, A5, A7, and A6 in FIG. 6C, which are the movement range of the robot ROB1, are determined (step 503 in FIG. 8A), and based on this, the movement direction indicated by the solid line in FIG. Is confirmed (step 504 in FIG. 8A), and the operation direction is determined (step 505 in FIG. 8A).

  As a result, the robots ROB1 and ROB2 operate smoothly without interfering with each other, the robot ROB1 (FIG. 6C) carries out the product S by the product carry-out device UL1, and the robot ROB2 carries out the product carry-out. The product S can be carried out by the device UL2.

  Thereafter, both robots ROB1 and ROB2 return to steps 301 and 401 in FIG. 7 to bend the next workpiece W, respectively.

(3) FIG. 9 shows a third embodiment of the present invention, in which a plurality of devices have different functions, and each of the plurality of robots ROB1 and ROB2 uses each device to produce a single type of product. This is the case of continuous processing at the same time.

  In this case, the press brake PB1 of the plurality of apparatuses performs normal bending (for example, acute angle bending), the press brake PB2 performs hemming bending (crushing bending), and the spot welder uses two thin metal plates. Machines that perform spot welding by stacking sheets, each having a different function.

  Then, each robot ROB1, ROB2 uses all the press brakes PB1, PB2 and spot welder (FIGS. 9A to 9D), and processes a single type of product simultaneously and continuously.

  In FIG. 9, the press brakes PB1 and PB2, the automatic die changer ATC shared by both press brakes PB1 and PB2, and the spot welder are arranged on the circumference, and the counterclockwise from the leftmost press brake PB1. In the direction, material supply devices LD1 and LD2 and product carry-out devices UL1 and UL2 are sequentially arranged on the circumference.

  9A shows a bending operation in the press brake PB1 of the robot ROB1, a workpiece receiving operation in the material supply device LD2 of the robot ROB2, and FIG. 9B shows a bending operation in the press brake PB2 of the robot ROB1. Bending operation in the press brake PB1 of the robot ROB2, FIG. 9C shows a welding operation in the spot welder of the robot ROB1, and a bending operation in the press brake PB2 of the robot ROB2. FIG. 9D shows the bending operation of the robot ROB1. The product carry-out operation in the product carry-out device UL1 and the welding operation in the spot welder of the robot ROB2 are respectively shown.

  Accordingly, the overall operation of the robots ROB1 and ROB2 in FIG. 9 (FIG. 10) is the same as the overall operation of the robots ROB1 and ROB2 in FIG. 4 described above (FIG. 5). PB3. Instead of PRG reading and PB3 operation (steps 107 (207) and 108 (207) in FIG. 5), as shown in steps 707 (807) and 708 (808) in FIG. A WEL. It is a point which reads PRG and performs spot welder operation.

  Therefore, detailed description of the entire third embodiment is omitted.

  As described above, a plurality of devices are arranged in a circle around the plurality of robots ROB1 (FIGS. 1 and 2) and ROB2, and are necessary for the robots ROB1 and ROB2 to operate in front of each device. By setting the appropriate areas A1, A2 and A3, the robots ROB1 and ROB2 installed in the vicinity of the center position C of the circle move the grip 2 via the trunk 6 (FIG. 1) to the wrist 3. However, since it does not move as a whole, there is no axis corresponding to the traveling axis (for example, FIG. 11).

  Therefore, according to the present invention, it is possible to easily add a plurality of devices without extending the travel axis, and the distance between the plurality of robots and the respective devices is substantially the same without adding a travel axis. Multiple robots can be easily added without modifying the robot itself in order to extend the grip travel distance.

  Furthermore, as described above, since a plurality of devices are arranged, for example, in a circular shape around the plurality of robots ROB1 and ROB2, that is, on a certain circumference, any device can be shared (FIG. 4). ).

  Therefore, according to the present invention, it is possible to arbitrarily specify a device that can be shared and a dedicated machine (for example, in FIG. 6, the rightmost press brake PB3 is a device that can be shared by the robots ROB1 and ROB2, and other presses Although the brakes PB1 and PB2 are dedicated machines for the robots ROB1 and ROB2, a device that can share the leftmost press brake PB1, another press brake PB2 and PB3 as a dedicated machine, or a device that can share the middle press brake PB2 Other press brakes PB1 and PB3 can also be designated as dedicated machines.) Therefore, the utilization efficiency of a plurality of devices has been improved.

  Furthermore, as shown in FIG. 4, a plurality of apparatuses PB1, PB2, and PB3 have the same function, and each of the plurality of robots ROB1 and ROB2 can use a single type of product at the same time. As shown in FIG. 6, the plurality of devices PB1, PB2, and PB3 have the same function, but each of the plurality of robots ROB1 and ROB2 shares the corresponding devices PB1 and PB2. Using the apparatus PB3, the robots ROB1 and ROB2 perform an interference check before operation (FIG. 8A), and the adjacent robots ROB1 and ROB2 during the operation perform an interference check (FIG. 8B). By doing so, it is possible to process a plurality of types of products simultaneously and continuously, as shown in FIG. 9, the plurality of devices have different functions, and a plurality of robots ROB1, RO Each of B2 can process a single type of product simultaneously and continuously by using each apparatus.

  Therefore, according to the present invention, a single type or a plurality of types of products can be processed continuously at the same time, thereby being able to cope with various production systems.

  The present invention relates to a plurality of devices in a robot system that processes a predetermined product by associating a plurality of robots with a plurality of devices necessary for processing a workpiece such as a bending machine, a die changer, and a welding machine. Robots that can handle a variety of production systems by improving the efficiency of using multiple devices, and by simultaneously processing single or multiple types of products simultaneously More specifically, a robot system in which a plurality of devices are arranged in a circle around a plurality of robots, and an area necessary for the robot to operate is set in front of each device. In addition, as described above, the plurality of devices have the same function, and each of the plurality of robots uses each device, and continuously performs a single type of product. Not only when processing, but when the above multiple devices have the same function, and each of the multiple robots uses a device shared with the corresponding device, and simultaneously processes multiple types of products. Further, the above-mentioned plurality of devices have different functions, and each of the plurality of robots is also applied to a case where each device is used to process a single type of product simultaneously and continuously, Very useful.

1 is an overall perspective view of the present invention. 1 is an overall top view of the present invention. It is a figure which shows the operation example of robot ROB1 and ROB2 which comprise this invention. It is a figure which shows 1st Example of this invention. 6 is a flowchart for explaining the operation of FIG. 4. It is a figure which shows 2nd Example of this invention. It is a flowchart for demonstrating the operation | movement of FIG. FIG. 8 is a detailed view of FIG. 7. It is a figure which shows 3rd Example of this invention. It is a flowchart for demonstrating the operation | movement of FIG. It is a figure which shows a prior art.

Explanation of symbols

1 base 2 grip 3 wrist 4 upper arm 5 lower arm 6 trunk 7 abutment 12 upper table 13 lower table D die P punch S product W work ROB1, ROB2 robot B1, PB2, PB3 press brake LD1, LD2 material Supply device UL1, UL2 Product carry-out device

Claims (6)

A robot system comprising a plurality of robots and a plurality of devices arranged in a ring shape around the plurality of robots. The robot system according to claim 1, wherein a plurality of devices are arranged in a circular shape centering on the plurality of robots, and an area necessary for the robot to operate is set in front of each device. The robot system according to claim 1, wherein the plurality of devices have the same function, and each of the plurality of robots uses each device to continuously process a single type of product simultaneously. The robot according to claim 1 or 2, wherein the plurality of devices have the same function, and each of the plurality of robots uses a device shared with the corresponding device to simultaneously process a plurality of types of products. system. The robot system according to claim 4, wherein when each of the plurality of robots operates, each robot performs an interference check before the operation, and an adjacent robot performs an interference check during the operation. The robot system according to claim 1, wherein the plurality of devices have different functions, and each of the plurality of robots uses each device to process a single type of product simultaneously and continuously.

Images