JP2007313591A - Method, device, and system for transferring work - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work transfer method capable of eliminating the need for manual labor by an operator and automating work transferring operation, and at the same time, saving a space for a work area. <P>SOLUTION: In the work transfer method repeatedly performing operation in which prescribed works 3A-3H are taken out from first pallets 4A-4H by a handling robot 1 according to the assembly production order of a vehicle body, and then, the works are transferred to second pallets 5A-5C to be put in the assembly production order sequentially, a plurality of rotary tables 2A-2D having two or more of the first pallets 4A-4H are arranged around an area to which the handling robot 1 can access, and the rotary tables 2A-2D are rotated, so that the first pallets 4A-4H with prescribed works 3A-3H to be taken out are arranged to face the robot side, and then, the prescribed works 3 are taken out by a work taking out means 11. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a workpiece transfer method, a workpiece transfer device, and a workpiece transfer system.

  As technologies for automating vehicle assembly lines, there are already automated processes, processes that are expected to be automated in the future due to technological advances, and processes that are deemed difficult to be automated in the future. For the time being, it is assumed that humans will be working on processes that are expected to be automated in the future, and a technology is disclosed that can immediately switch to automated work without changing line equipment when automation becomes possible. (See, for example, Patent Document 1).

In the assembly line of a vehicle, for example, the work of transferring a windshield or rear glass from a dedicated pallet to a synchronized pallet according to the assembly production sequence of the vehicle (picking work) among a plurality of assembly parts is not automated but by an operator. Is going.
Japanese Patent Publication No. 6-83938

  Workers work in a vast area because there are multi-model, multi-spec assembly parts. For this reason, an operator needs to walk in a wide area for a predetermined part, and the number of walks increases and workability deteriorates. Further, in the case of heavy parts such as glass, the transfer work to the pallet is difficult, and the burden on the worker is great.

  Accordingly, the present invention provides a workpiece transfer method, a workpiece transfer device, and a workpiece transfer system capable of automating a workpiece transfer operation without manual work by an operator and saving the work area. The purpose is to do.

  The workpiece transfer method of the present invention is an assembly process for attaching different types of workpieces to different types of products, and a plurality of first types in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet. The workpiece transfer method is such that after a predetermined workpiece is taken out from the pallet by a robot to which a workpiece take-out means is attached, the workpiece is transferred to a second pallet and arranged so as to be in the production order of the products. A plurality of rotary tables on which at least two or more first pallets are arranged are arranged around an area accessible by the robot, and a predetermined work to be taken out by rotating the rotary table is arranged on the first. After the pallet is arranged toward a position accessible by the robot, the workpiece picking means is used to place the pallet. Wherein the taking out of the workpiece.

  The workpiece transfer device according to the present invention is an assembly process in which different types of workpieces are attached to different types of products, and a plurality of first types in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet. A workpiece transfer device for transferring the workpiece from the pallet to a second pallet for arranging the workpieces so as to be in the production order of the products, wherein the workpiece removal means is attached and the first pallet A robot capable of accessing the second pallet; at least two or more first pallets; a plurality of rotary tables arranged around an area accessible by the robot; and the robot from the first pallet The robot moves the picked-out workpiece to the second pallet and can be accessed by the robot. When there is no work to be taken out on the first pallet arranged at the position, the rotary table is rotated to place the first pallet on which the work to be taken out is arranged at a position accessible by the robot. And a control unit for performing the above.

  The workpiece transfer system of the present invention is an assembly process in which different types of workpieces are attached to different types of products, and a plurality of first types in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet. A workpiece transfer system for transferring the workpiece from the pallet to a second pallet for arranging the workpieces in the production order of the product, wherein the workpiece pallet is attached and the first pallet The number of types of the workpieces is increased by including a robot that can access the second pallet and a plurality of rotary tables that are arranged around the area that the robot can access at least two or more first pallets. A rotary table for placing the first pallet around an area accessible by the robot. In addition, an operation for transferring the workpiece taken out from the first pallet by the robot to the second pallet is performed, and a workpiece to be taken out to the first pallet arranged at a position accessible by the robot is provided. If not, the rotary table is rotated so that the first pallet on which the work to be taken out is arranged is arranged toward a position accessible by the robot.

  According to the workpiece transfer method of the present invention, the operation of transferring a workpiece (parts) from the first pallet to the second pallet by the robot so as to be in the assembly production order without depending on the operator is automated. Since a plurality of rotary tables are arranged around the area accessible to the robot and a plurality of first pallets are placed on the rotary table, the first pallets are arranged in a row on the work floor. Compared with the case where it was made to do, the space saving of a work area can be achieved.

  Further, according to the method of the present invention, the work area can be saved, so that the cycle time for transferring the workpiece from the first pallet to the second pallet can be shortened, and the equipment is down. However, it is possible to reduce the number of walks when a person works in the work area of the automatic machine.

  According to the workpiece transfer device of the present invention, when there is no workpiece to be taken out from the first pallet arranged at a position accessible by the robot, the first workpiece is arranged by rotating the rotary table and arranging the workpiece to be taken out. Since the control unit for performing the operation of arranging the pallet toward the position accessible by the robot is provided, the workpiece can be transferred efficiently without stopping the equipment (without loss time) at the time of replacing the empty pallet.

  According to the workpiece transfer system of the present invention, by adding a rotary table for placing the first pallet, it is easy to increase the types of workpieces without greatly changing the system configuration even when the types of workpieces increase. Can respond.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In the present embodiment, glass (workpiece), which is one of automotive parts to be assembled to an automobile (product), is transferred from the first pallet to the second pallet so as to be in the assembly production order.

"Description of workpiece transfer device"
FIG. 1 is a layout diagram showing an example of a workpiece transfer device, and FIG. 2 is a correction for making the workpiece holding position coincide with the reference position of the robot before the workpiece is taken out from the first pallet by the workpiece pick-up means and transferred to the second pallet. It is a perspective view which shows the position alignment means for performing operation | movement.

  The workpiece transfer device includes a handling robot 1 which is a robot, a plurality of rotary tables 2 (2A to 2D) arranged around an area accessible by the handling robot 1, and a workpiece of the same type (glass) ) A plurality of first pallets 4 (4A to 4H) in which a plurality of 3 (3A to 3H) are arranged and a predetermined one of the first pallets 4A to 4H accessible by the handling robot 1 around A second pallet 5 (5A to 5C) for taking out and transferring the workpiece 3 and positioning means for matching the workpiece holding position held by the handling robot 1 with the reference position of the robot.

  Furthermore, the workpiece transfer device is arranged to allow the handling robot 1 to move the workpiece 3 taken out from the first pallet 4 to the second pallet 5 and to be accessible by the handling robot 1. When there is no work 3 to be taken out from the first pallet 4, the first pallet 4 on which the work 3 to be taken out is rotated by rotating the rotary table 2 is arranged toward a position accessible by the handling robot 1. And a control unit 6 for performing the operation to be performed.

  The first pallet 4 is a dedicated pallet that patrols between a workpiece manufacturer that manufactures the workpiece 3 and a vehicle production factory that uses the workpiece 3 to assemble an automobile, and is arranged on the carriage. Arranged on the rotary table 2. The first pallet 4 has a variation in size, part size, and the like for each of the pallets 4A to 4H due to variations in assembly accuracy and component accuracy. A plurality of the same type of workpieces 3 are arranged on the first pallets 4 at a predetermined interval, and each of the first pallets 4 has a different type of windshield or the like depending on the vehicle type or specifications. Work 3 is arranged. Two of these first pallets 4 are arranged on each rotary table 2 two by two with their workpiece take-out ports facing away from each other.

  Note that by changing the shape of the rotary table 2, three or more first pallets 4 can be arranged on the rotary table 2 instead of two. In such a case, the work area 8 can be further reduced in space.

  For example, in FIG. 1, one of the first pallets 4A disposed on the rotary table 2A closest to the second pallet 5A on the pallet carry-in side has a work 3A for car A and the other first pallet 4B. Is a work 3B for a B car, one of the first pallets 4E arranged on the turntable 2C adjacent to the left is a work 3E for an E car, and the other first pallet 4F is a work 3F for a F car. Is arranged. In addition, one of the first pallets 4C arranged on the rotary table 2B closest to the second pallet 5C on the pallet unloading side is a work 3C for a C car, and the other first pallet 4D is for a D car. A workpiece 3G for the G vehicle is disposed on the first pallet 4G disposed on the rotary table 2D adjacent thereto, and a workpiece 3H for the H vehicle is disposed on the other first pallet 4H. .

  A plurality of rotary tables 2 are arranged around an area that the handling robot 1 can access. In the present embodiment, four rotary tables 2 (2A to 2D) are arranged in a work area 8 surrounded by safety fences 7A to 7D so as to surround the handling robot 1 with the handling robot 1 as a center. The rotary table 2 has a substantially propeller shape in plan view in which a hollow portion 100 is formed by scraping both sides of the disk, and a driving motor 101 (101A to 101A) such as a servo motor that is driven and controlled by the control unit 6. 101D) is rotated every 180 degrees. For example, the adjacent turntables 2A and 2C are configured not to contact the other turntable 2A by forming the recess 100 when one turntable 2C is rotated. In order to save space, the arrangement pitch of the first pallets 4 is narrowed.

  The second pallet 5 is so-called production for sequentially arranging the workpieces 3A to 3H taken out from the first pallets 4A to 4H by the workpiece take-out means 11 attached to the wrist portion 10 of the handling robot 1 according to the assembly production sequence. It is a permutation palette. In this second pallet 5, workpieces 3A to 3H taken out in accordance with the vehicle body assembly production order from workpieces 3A to 3H of different types for each of the first pallets 4A to 4H are placed from the back of the pallet to the front side. Arrange them at predetermined intervals. For example, if the vehicle body production order is the order of E car, C car, G car, and A car, the second pallet 5 is for the A car, G car, C car, and E car from the back of the pallet. The workpieces 3A, 3G, 3C, and 3E are arranged in order, and are arranged so as to be in the order of vehicle body production from the front of the pallet to the back.

  The second pallets 5 (5A to 5C) are respectively provided at a transfer position that is a position transferred from the handling robot 1, a pallet carry-in position above, and a pallet carry-out position below. It is designed to flow downward. An operator carries an empty pallet to the pallet carry-in position, and a pallet that has been arranged in the assembly production order by the worker is carried to the pallet carry-out position.

  The handling robot 1 accesses a pallet facing the robot side among the first pallets 4 arranged on the rotary table 2, takes out the designated workpiece 3 from the pallet, and arranges the second pallet in the pallet loading position. The work of transferring to the pallet 5B is performed. The operation of the handling robot 1 is performed according to a command from the control unit 6.

  The handling robot 1 has a workpiece take-out means 11 attached to the wrist portion 10. The workpiece take-out means 11 is composed of a suction holding mechanism section having a plurality of suction pads 12 for sucking and holding the workpiece 3, and the suction pad 12 sucks and holds the surface of the workpiece 3. Further, the workpiece take-out means 11 is movable with respect to the wrist portion 10 in a three-dimensional direction (X direction, Y direction, Z direction) and a θz direction that is a rotation direction around the Z axis.

  The alignment means includes a first camera 13 and a second camera 14 that are imaging means for imaging the holding position of the work 3 held by the work picking means 11, and a laser beam that makes it easy for the cameras 13 and 14 to recognize the shooting location. And the light source 15 that emits LED light, the work holding position imaged by the first camera 13 and the second camera 14, and the normal holding position (appropriate work holding position for placing on the second pallet 5 without misalignment) ) And the amount of deviation is calculated and fed back to the handling robot 1, and the workpiece holding position is appropriately set to be placed on the reference position of the handling robot 1 (the second pallet 5 without positional deviation). And a displacement amount detection instruction means 16 for instructing the handling robot 1 to match the position).

  The 1st camera 13 is attached to the front-end | tip of the camera attachment pole 17 arrange | positioned on the work floor. The first camera 13 irradiates light from the light source 15 at two positions of the workpiece upper edge (work edge portion) 3a in the vehicle height direction (Z direction), picks up an image of the irradiated portion, and acquires the image data. Is sent to the shift amount detection instruction means 16 and displayed on the monitor. The second camera 14 is attached to the camera mounting pole 17 so as to be in a vehicle front-rear direction (Y direction) and a position facing the workpiece 3. The second camera 14 picks up an image of a portion irradiated to the work upper edge corner 3b from a light source (not shown) attached to the work take-out means 11, and uses the image data as a deviation detection instruction means 16. To display on the monitor. Thus, by irradiating the edge part of the workpiece 3 with light to emit light, it is possible to prevent the problem that it is difficult to recognize the transparent glass by the second camera 14.

  The deviation amount detection instruction means 16 determines the work holding position (actual work holding position held by the work pick-up means 11) and the normal holding position in the Y and θz directions from the image data captured by the first camera 13. The amount of deviation is obtained by comparison (this is the first deviation amount detection operation). Further, the deviation amount detection instructing means 16 compares the workpiece holding position in the X direction and the Z direction with the normal holding position from the image data captured by the second camera 14 to obtain the deviation amount (this is the second amount). This is the displacement detection operation).

  The deviation amount detection instruction means 16 feeds back the deviation amounts obtained from the image data photographed by the first camera 13 and the second camera 14 to the handling robot 1, and the workpiece holding position of the handling robot 1 is returned to the handling robot 1. The robot is instructed to match the reference position. In response to this instruction, the handling robot 1 moves and corrects the workpiece 3 held by the workpiece take-out means 11 according to the amount of deviation, and holds the workpiece 3 in the proper holding position. In this deviation amount detection operation, after the first deviation amount detection operation is performed, the second deviation amount detection operation is performed, and the first deviation amount detection operation is further performed, thereby improving the accuracy of deviation amount detection.

  As shown in FIG. 1, the imaging means such as the first camera 13 and the second camera 14 may be installed beside the second pallet 5B arranged at the transfer position or installed in the front. Also good. In short, by installing the imaging means in a series of motion trajectories in which the handling robot 1 transfers the workpiece 3, the workpiece 3 is taken until the workpiece 3 is taken out from the first pallet 4 and transferred to the second pallet 5. As a result, the cycle time of the workpiece transfer operation can be minimized.

  The control unit 6 controls the operation of the handling robot 1. Here, the control unit 6 takes out the predetermined workpiece 3 from the first pallet 4 arranged on the robot side on the rotary table 2 provided around the range accessible by the handling robot 1 and takes the second pallet. 5 is instructed to the handling robot 1. Further, when there is no work 3 to be taken out on the first pallet 4 arranged at a position accessible by the handling robot 1, the control unit 6 rotates the rotary table 2 and places the work 3 to be taken out. The operation of arranging the first pallet 4 toward the accessible position of the handling robot 1 is performed.

  In addition, the workpiece transfer apparatus of this embodiment has an in-pallet workpiece presence / absence sensor that detects the presence / absence of the glass 3 in the first pallet 4. When the in-pallet workpiece presence / absence sensor is turned on, the detection signal is sent to the control unit 6, and the control unit 6 rotates the rotary table 2 by 180 degrees to bring the empty pallet to the position opposite to the robot side. Turn. As a means for detecting the presence / absence of the glass 3, the robot may detect the presence / absence of the glass 3 in the pallet by counting the number of the glass 3 in addition to the sensor.

  Moreover, in the workpiece transfer apparatus of this embodiment, the sensor 20 for notifying that the worker has entered the work area 8 surrounded by the safety fences 7A to 7D by mistake is an area that the handling robot 1 can access. Is provided outside. Such a sensor 20 is provided on opposite safety fences 7A and 7B that pass through substantially the center positions of the rotary tables 2A and 2C arranged on the upper side with the handling robot 1 interposed therebetween, and the rotary table 2B arranged on the lower side. It is provided in the safety fences 7A and 7D facing each other passing through a substantially central position of 2D. When an operator or the like enters the work area 8, the sensor 20 is activated, a siren sounds, an alarm lamp is lit, and the transfer work of the work 3 by the handling robot 1 is temporarily stopped. In this case, the entire system is not stopped due to power failure.

  According to the workpiece transfer apparatus of the present embodiment, when there is no workpiece 3 to be taken out on the first pallet (first pallet arranged on the robot side) 4 arranged at a position accessible by the handling robot 1. Since the rotary table 2 is rotated and the control unit 6 is provided for performing the operation of arranging the first pallet 4 on which the work 3 to be taken out is arranged toward the accessible position of the handling robot 1, the empty pallet replacement is performed. The work 3 can be transferred efficiently without stopping the equipment at any time (without loss time).

  Further, according to the workpiece transfer apparatus of the present embodiment, when the workpiece 3 in the first pallet 4 arranged at a position accessible by the handling robot 1 is emptied, the emptied first Since the operation of rotating the rotary table 2 on which the pallet 4 is arranged and replacing the pallet 4 on which the empty pallet 4 and the work 3 are arranged is instructed by the control unit 6, the operator can perform work by the handling robot 1. The pallet replacement work can be performed as it is without stopping the transfer operation.

  Moreover, according to the workpiece transfer apparatus of this embodiment, since the plurality of first pallets 4 are arranged on each rotary table 2 arranged with a narrow pitch, space saving of the factory area space is achieved. be able to. Thereby, when an installation goes down for some reason, the number of walks when an operator works in the work area 8 can be reduced.

  Further, according to the workpiece transfer apparatus of the present embodiment, the first pallet 4 is provided with the positioning means for matching the workpiece holding position where the workpiece 3 is held by the workpiece picking means 11 with the reference position of the robot. Even if the workpiece 3 is roughly placed on the rotary table 2 and the workpiece 3 is roughly placed on the first pallet 4, the workpiece holding position can be adjusted to the reference position of the robot. There is no need to increase the placement accuracy in the area 8 and the placement accuracy of the work 3 on the first pallet 4.

  Moreover, according to the workpiece transfer apparatus of the present embodiment, since the imaging unit is used as the alignment unit, it is possible to visually confirm the positional deviation and reduce the apparatus cost.

"Explanation of work transfer method"
Next, a workpiece transfer method that uses the workpiece transfer device configured as described above, takes out a predetermined workpiece from the first pallet, and transfers it to the second pallet so as to be in the assembly production order. explain. The following description will be made with reference to the workpiece transfer flowchart of FIG.

  The work transfer flowchart of FIG. 3 starts when the control unit 6 receives a production instruction. In the flowchart, the work is described as glass. When the Nth workpiece 3 is designated as the workpiece 3 to be transferred to the second pallet 5 in the process of step S1, the control unit 6 handles the Nth workpiece 3 in the process of step S2. It is determined whether or not the robot 1 is in the first pallet 4B, 4C, 4F, 4G arranged at the accessible position on the robot side. If there is no N-th workpiece 3 on the first pallet 4B, 4C, 4F, 4G on the robot side, the control unit 6 drives the drive motor 101 to rotate the turntable 2 180 degrees in the process of step S3. Let

  If the N-th workpiece 3 is present on the first pallet 4B, 4C, 4F, 4G on the robot side, in the next step S4, the control unit 6 moves the workpiece to the pallet where the N-th workpiece 3 is present. It is determined whether or not 3 remains (whether or not the number of remaining workpieces in the pallet is zero). If the workpiece 3 remains on the pallet (in the case of NO), has the control unit 6 completed the transfer of the (N−1) th workpiece 3 to the second pallet 5 in the process of step S5? It is determined whether or not (alignment is completed). If the alignment is not completed, the control unit 6 waits for the next operation until the (N-1) th workpiece 3 is transferred to the second pallet 5 in the next step S6.

  In the process of step S4, when the number of workpieces in the pallet is zero (in the case of YES), the control unit 6 rotates the turntable 2 on which the pallet is placed in the process of step S6 by 180 degrees. And the control part 6 instruct | indicates pallet replacement | exchange operation | movement by the process of following step S7, and after generating an alarm, the operation | work which makes an operator carry out an empty pallet out of the work area 8 is encouraged. As shown in FIG. 4, the worker carries the empty pallet 4 </ b> F out of the work area 8, and then puts the pallet 4 </ b> F ′ on which the new work 3 is placed on the turntable 2. In FIG. 4, the first pallet 4F is an empty pallet.

  When the transfer of the (N-1) th work 3 to the second pallet 5 is completed in the process of step S5, the work removal process of step S8 is performed. In this workpiece picking process, the handling robot 1 goes to grip the designated Nth workpiece 3. At this time, since the workpiece 3 is roughly positioned on the first pallet 4, the amount of the workpiece 3 in the Y direction (the deviation in the workpiece thickness direction, which is the vehicle traveling direction) is detected by an ultrasonic sensor or the like attached to the workpiece taking-out means 11. The workpiece 3 is gripped by the workpiece pick-up means 11 after correcting the amount. In this way, by measuring the deviation in the Y direction with an ultrasonic sensor or the like, it is possible to cope with the missing teeth of the work 3 arranged in the first pallet 4.

  When the removal of the Nth workpiece 3 is completed in the process of step S9, in step S10, the control unit 6 instructs the removal request (N + 1 component instruction request) of the N + 1th workpiece 3 to be extracted next. The work transfer flowchart is returned to the process of step S2.

  And the control part 6 performs the process of step S11, before the workpiece | work 3 hold | maintained by the workpiece | work pick-up means 11 is transferred to the 2nd pallet 5B arrange | positioned in the transfer position. In the process of step S11, a deviation amount between the holding position of the workpiece 3 held by the workpiece take-out means 11 and a regular predetermined position which is a workpiece holding position for placing on the second pallet 5 is obtained, and the deviation amount is obtained. Accordingly, a visual correction operation for matching the workpiece holding position with the reference position of the handling robot 1 is performed.

  Next, the control unit 6 instructs the handling robot 1 to perform the process of step S12, and aligns the held work 3 at a predetermined position on the second pallet 5B. Then, the alignment of the work 3 on the second pallet 5B is completed in the process of step S13. The above is the operation processing of the workpiece transfer method using the workpiece transfer apparatus of the present embodiment.

  According to the workpiece transfer method of the present embodiment, the workpiece 3 is transferred from the first pallet 4 to the second pallet 5 by the robot (handling robot 1) regardless of the operator's person so as to be in the assembly production order. The work to be replaced can be automated, and a plurality of the first pallets 4 are placed on the rotary table 2, so that the work area is larger than when the first pallets 4 are arranged in a row on the work floor. Eight spaces can be saved.

  In addition, according to the workpiece transfer method of the present embodiment, the work area 8 can be saved in space, and therefore the cycle time for transferring the workpiece 3 from the first pallet 4 to the second pallet 5 is shortened. In addition, even if the equipment is down, the number of walks when a person works in the work area of the automatic machine can be reduced.

  Further, according to the workpiece transfer method of the present embodiment, when the workpiece 3 in the first pallet 4 arranged at a position accessible by the handling robot 1 becomes empty, the first transferred empty Since the rotary table 2 on which the pallet 4 is arranged is rotated and the empty pallet and the pallet on which the workpiece is arranged are exchanged, the workpiece transfer operation by the handling robot 1 is efficiently stopped without stopping. It can be performed.

  Further, according to the workpiece transfer method of the present embodiment, the workpiece holding position correcting operation for matching the workpiece holding position where the workpiece 3 is held by the workpiece pick-up means 11 with the reference position of the robot is performed, and then the workpiece is transferred to the second pallet. Therefore, the positional deviation of the workpiece 3 from the second pallet 5 can be eliminated.

  Further, according to the workpiece transfer method of the present embodiment, when the handling robot 1 moves the workpiece 3 to the second pallet 5 and an instruction to take out the workpiece 3 to be transferred next is issued, the handling robot 1 When there is no designated workpiece 3 on the first pallet 4 arranged at a position accessible by 1, the robot rotates the first pallet 4 on which the designated workpiece 3 is arranged by rotating the rotary table 2. Since it is arranged toward the side, it is possible to continuously take out the workpiece by the handling robot 1 without loss.

  Further, according to the workpiece transfer method of the present embodiment, the holding position of the workpiece 3 held by the workpiece take-out means 11 is imaged, and the deviation amount of the workpiece holding position with respect to a predetermined position is calculated from the image, and the deviation amount is calculated. Accordingly, the position of the workpiece 3 is corrected by correcting the holding position of the workpiece 3, so that the workpiece 3 can be accurately arranged on the second pallet 5. Further, since the shift amount of the workpiece holding position can be corrected, the operator can set the first pallet 4 without being aware of the setting position where the first pallet 4 is set in the work area 9, and the workpiece 3 is also the first pallet 4. Can be set roughly.

"Work transfer system"
FIG. 5 is a layout diagram showing an example of a workpiece transfer system in which packages are added when the types of workpieces (number of specifications) are increased.

  When the types of workpieces 3 increase, a rotary table 2E for arranging the first pallets 4I and 4J and a drive motor 101E for driving the rotary table 2E are added around an area accessible by the handling robot 1. The additional rotary table 2E is arranged as close to the handling robot 1 as possible in a position where it does not come into contact with other rotary tables 2.

  By adding the rotary table 2E, it is possible to cope with an increase in the number of types of workpieces 3. In the example shown in FIG. 1, there are eight types of workpieces 3, but by adding one rotary table 2, two types of workpieces 3 can be added. 3 can be accommodated. When the number of specifications of the work 3 is further increased, the rotary table 2 is further added to the work transfer device.

  As described above, according to the workpiece transfer system of the present embodiment, if the rotary table 2 for arranging the first pallet 4 around the area accessible by the handling robot 1 is added, the number of specifications of the workpiece 3 increases. In this case, it is possible to easily cope with an increase in the number of workpiece specifications simply by adding the rotary table 2.

"Other embodiments"
In the above-described embodiment, the imaging unit is used as the alignment unit, the amount of deviation between the workpiece holding position and the normal holding position is calculated, and the amount of deviation is obtained so that the workpiece holding position matches the reference position of the robot. However, the correction operation may be performed by mechanical means without using the imaging means.

  As the positioning means by the mechanical means, the rectangular workpiece 3 held by the workpiece taking-out means 11 is brought into contact with the reference pin to perform positioning in the workpiece depth direction, workpiece width direction, and workpiece vertical direction. The structure of the workpiece take-out means 11 provided with this positioning means will be described below.

  As shown in FIGS. 6 to 8, the workpiece take-out means 11 includes a suction holding mechanism unit that sucks and holds the workpiece 3, and a position adjustment mechanism that matches the workpiece holding position in the depth direction of the workpiece 3 with the reference position of the robot. A suction holding position adjusting means 41 provided with a portion, a workpiece presence / absence detecting means 42 for detecting the presence / absence of the work 3 sucked by the suction holding position adjusting means 41, and a width of the work 3 held by the suction holding position adjusting means 41. Work holding position adjusting means 43 is provided for matching the vertical and vertical work holding positions with the reference position of the robot. The suction holding position adjusting means 41 and the work holding position adjusting means 43 correspond to the positioning means of this embodiment.

  Three suction holding position adjusting means 41 are attached to each of the pair of attachment arm portions 45 provided on the hand frame 44 attached to the wrist portion 10 of the handling robot 1. More specifically, the suction holding position adjusting means 41 is attached to the bracket 46 fixed to each attachment arm portion 45. The suction holding position adjusting unit 41 includes a suction holding mechanism unit 47 that sucks and holds the workpiece 3 and a position adjustment mechanism unit 48 that matches the workpiece holding position of the workpiece 3 in the depth direction with the reference position of the robot.

  As shown in FIG. 9, the suction holding mechanism unit 47 includes a suction pad 49 for sucking and holding the workpiece 3 and a swing mechanism (not shown) that can swing the suction pad 49 in accordance with the curved surface of the workpiece 3. And). The suction pad 49 and the swinging mechanism are operated by the introduction and removal of compressed air sent from a pneumatic circuit (not shown). When the compressed air is introduced, the suction pad 49 attracts the work 3. Is not performed and can swing with respect to the workpiece surface. On the other hand, when the compressed air is made negative by the pneumatic circuit, the workpiece 3 is sucked by the suction pad 49 and the swinging operation of the suction pad 49 is stopped and locked.

  The position adjusting mechanism 48 is disposed around the slide shaft 50, which includes a slide shaft 50 that holds the suction holding mechanism 47 at the tip, a lock mechanism that locks the slide position of the slide shaft 50, and the slide shaft 50. Coil spring 52.

  The slide shaft 50 has a suction holding mechanism 47 attached to the front end and a stopper 53 that restricts the most projecting position of the slide shaft 50 to the rear end. In the state where the suction pad 49 is farthest from the work 3, the stopper 53 is positioned at a position protruding upward from the upper surface of the slide guide 51 as shown in FIG. 9A, and the suction pad 49 is closest (contacted) to the work 3. In this state, the stopper 53 contacts the upper surface of the slide guide 51 as shown in FIG.

  The slide guide 51 is fixed to the flange 46 described above, and guides the slide shaft 50 to be slidable in the vertical direction of FIG. A lock mechanism for locking the slide position of the slide shaft 50 is provided inside the slide guide 51. The lock mechanism is operated by drawing in and out compressed air sent from a pneumatic circuit (not shown). When the compressed air is introduced, the lock mechanism is released and the slide shaft 50 is moved by the coil spring 52. The suction pad 49 shown in FIG. On the other hand, when the compressed air is made negative pressure by the pneumatic circuit, the lock mechanism is activated and the slide position of the slide shaft 50 is locked.

  As shown in FIG. 10, the workpiece presence / absence detection means 42 includes a detection switch 54 for detecting the presence / absence of the workpiece 3, a detection rod 55 for turning on / off the detection switch 54, and indirect detection disposed above the detection rod 55. It consists of a body 56 and a compression spring 57.

  When the workpiece 3 comes into contact with the tip of the detection rod 55, the detection rod 55 is pushed into the detection main body 58, the indirect detection body 56 is raised against the urging force of the compression spring 57, and the detection switch 54 is turned on. When the indirect detection body 56 is urged downward by the compression spring 57, it is separated from the detection switch 54 and turned off. When the detection switch 54 is turned on, it is determined that the workpiece 3 is present, and when it is turned off, it is determined that there is no workpiece 3.

  In the present embodiment, the workpiece presence / absence detecting means 42 is arranged at a diagonal position so that the presence / absence of the workpiece 3 can be detected even when the workpiece 3 is inclined.

  The workpiece holding position adjusting means 43 is composed of an XY table that functions to match the width and vertical workpiece holding positions of the workpiece 3 held by the suction holding position adjusting means 41 with the reference position of the robot. The XY table includes a first table 59 fixed on the hand frame 44, a second table 60 fixed on the wrist portion 10 of the robot, and a workpiece width direction (X direction) on the first table 59. A pair of X-axis guide rails 61 fixed along, a pair of Y-axis guide rails 62 fixed along the workpiece vertical direction (Y direction) on the lower surface of the second table 60, and the X-axis guide rails 61 and Y The linear guide 63 is slidably provided on both of the shaft guide rails 62, and a lock mechanism that locks the XY table in the X and Y directions.

  The lock mechanism allows the first table 59 to slide in the X direction or the Y direction with respect to the second table 60 by introducing and removing compressed air supplied from a pneumatic circuit (not shown). Lock movement impossible. Since the slide of the first table 59 with respect to the second table 60 shares the linear guide 63, the slide cannot be slid in the other direction unless the slide in one direction is locked. Therefore, for example, in order to move the first table 59 in the X direction with respect to the second table 60, the slide in the Y direction is locked, and the first table 59 is moved in the Y direction with respect to the second table 60. On the contrary, it is necessary to carry out after locking the slide in the X direction.

  A rotating means 64 for rotating the workpiece transfer device 11 is provided at the tip of the wrist portion 10 of the robot. The rotating unit 64 functions to change the orientation of the workpiece 3 to 90 degrees when performing the workpiece holding position correction operation of the workpiece 3 sucked by the suction holding position adjusting unit 41.

  The robot including the workpiece transfer device 11 configured as described above operates in response to a command from the control unit 6 and moves the workpiece transfer device 11 attached to the wrist portion 10 according to the command. It has become.

  Next, the operation of transferring the workpiece 3 from the first pallet 4 to the second pallet 5 by the workpiece transfer device in which the workpiece pick-up means 11 having the alignment means by the mechanical means described above is mounted on the robot will be described. To do.

  FIG. 11 is a state diagram showing the workpiece holding position and the reference position of the robot. FIG. 11A is a state where the workpiece holding position and the reference position of the robot coincide with each other, and FIG. FIG. 12 shows an adjustment method for adjusting the position of the workpiece holding position and the robot reference position in the workpiece width direction and the workpiece vertical direction. (A) is a figure which shows the position adjustment of a workpiece | work width direction, (B) is a figure which shows the position adjustment of a workpiece | work vertical direction.

  First, in response to a command from the control unit 6, the handling robot 1 moves to a desired first pallet 4 in accordance with the production order, and the workpiece take-out means 11 attached to the wrist portion 10 is moved to the first pallet 4. Approach the arranged work 3.

  When the workpiece take-out means 11 approaches the workpiece 3, the suction pad 49 of the suction holding position adjusting means 41 comes into contact with the workpiece 3 as shown in FIGS. 6 and 7. At this time, in the suction holding position adjusting means 41, the suction holding mechanism portion 47 and the position adjusting mechanism portion 48 are in the unlocked state, so that the suction pad 49 moves with respect to the swinging direction and the workpiece 3 according to the curved surface of the workpiece 3. It swings following the forward / backward direction. When the suction pad 49 follows the curved surface of the workpiece 3, the suction holding mechanism 47 is locked, and the workpiece 3 is sucked and held by the suction pad 49.

  Thereafter, the workpiece 3 held by the suction pad 49 is lifted above the first pallet 4 and is moved to the reference pin 65 for position adjustment in the workpiece depth direction, which is a reference pin provided above the first pallet 4. Press work 3. When the workpiece 3 is pressed against the reference pin 65 for position adjustment in the workpiece depth direction, the workpiece holding position in the workpiece depth direction matches the reference position of the handling robot 1 (center position C of the wrist portion 10). When the workpiece holding position matches the reference position of the handling robot 1, the position adjusting mechanism 48 is locked to fix the workpiece holding position.

  In this manner, the work 3 is sucked and held by the sucking and holding position adjusting means 41. The work holding position where the work 3 is actually sucked and held and the reference position of the handling robot 1 (the center position C of the wrist portion 10). ) (FIG. 11 (A)), the workpiece holding position and the reference position of the handling robot 1 are shifted to the left or right side in the workpiece width direction (FIGS. 11 (B) and (C)). Either. This misalignment includes errors in assembly accuracy of the first pallets 4, variations in the sizes of the first pallets 4, variations in the arrangement of the workpieces 3 arranged on the first pallets 4, and work on the first pallets 4. This is caused by variation in arrangement in the area 8 or the like.

  Next, it is detected whether or not the detection rod 55 of the workpiece presence / absence detecting means 42 has come into contact with the workpiece 3 and the suction holding position adjusting means 41 has held the workpiece 3. If the detection of the workpiece 3 is not confirmed, since the workpiece 3 cannot be sucked and held, the work of holding the workpiece 3 again is repeated.

  When it is confirmed that the work 3 is sucked and held by the suction holding mechanism 47, the work holding position adjusting means 43 is unlocked in the work width direction (X direction in FIG. 6) (the work vertical direction remains locked). The workpiece take-out means 11 is set in a free state so as to be movable in the workpiece width direction. As a result, the first table 59 is free to move only in the workpiece width direction with respect to the second table 60 fixed to the wrist portion 10.

  Then, both end edges 3c and 3d in the width direction of the workpiece 3 sucked and held by the suction holding position adjusting means 41 are reference pins provided at an upper position of the first pallet 4 as shown in FIG. The robot moves by the same predetermined amount toward a certain workpiece width longitudinal position adjustment reference pin 66, 67. For example, as shown in FIGS. 11B and 11C, when the workpiece holding position and the reference position of the handling robot 1 are shifted, the workpiece widths arranged two each on both sides of the workpiece 3 in the width direction. Since one of the vertical position adjustment reference pins 66 and 67 comes into contact, the first table 59 slides relative to the second table 60 in the workpiece width direction, and the workpiece holding position is It matches the reference position of the handling robot 1.

  Next, after the direction of the work 3 is rotated 90 degrees by the rotation means 64, the work holding position adjusting means 43 is unlocked in the work vertical direction (Y direction in FIG. 6) (the work width direction is locked). Then, the workpiece take-out means 11 is brought into a free state so as to be movable in the workpiece vertical direction. As a result, the first table 59 is in a free state in which it can move only in the workpiece vertical direction with respect to the second table 60 fixed to the wrist portion 10.

  Then, as shown in FIG. 12 (B), both end edges 3c and 3d in the vertical direction of the work 3 sucked and held by the suction holding position adjusting means 41 are provided in the vertical position of the work width. The robot moves by the same predetermined amount toward the direction position adjustment reference pins 66 and 67. When both end edges 3c, 3d of the workpiece 3 are brought into contact with the workpiece width longitudinal position adjusting reference pins 66, 67 one by one, the first table 59 slides relative to the second table 60 in the workpiece longitudinal direction. Thus, the workpiece holding position matches the reference position of the handling robot 1.

  When the workpiece holding position in the workpiece width direction and the workpiece vertical direction matches the reference position of the handling robot 1, the workpiece holding position adjusting means 43 is locked and the workpiece width direction of the first table 59 relative to the second table 60 and Stop the vertical movement of the workpiece. As a result, the position of the workpiece holding position and the reference position of the handling robot 1 in the workpiece depth direction, the workpiece width direction, and the workpiece vertical direction are corrected before being transferred to the second pallet 5. This completes the workpiece holding position correcting operation.

  Next, when the workpiece 3 is positioned at the regular position, the handling robot 1 moves the workpiece 3 to the second pallet 5. When the work 3 is placed at a predetermined position on the second pallet 5, the suction by the suction pad 49 is released and the work 3 is placed on the second pallet 5.

  As described above, according to the present embodiment, the workpiece holding position is made to match the reference position of the robot using the alignment means by the mechanical means, so that the correction according to the mechanical accuracy can be performed. And the cost of the apparatus can be reduced.

  Further, according to the present embodiment, since the workpiece position correcting operation positions each of the workpiece depth direction, the workpiece width direction, and the workpiece vertical direction, it is possible to perform accurate position correction, and the second pallet 5 The workpieces 3 can be aligned without any variation.

  Although specific embodiments to which the present invention is applied have been described above, the above-described embodiments are examples of the present invention and are not limited to these embodiments.

  As described above, the reference pins 65, 66, and 67 are not limited to the example in which the reference pins 65, 66, and 67 are respectively provided above the first pallet 4. Positioning may be performed immediately before the input.

  In the present embodiment, glass is used as an example of the work 3, but a panel or a trim part, which is an assembly part other than glass, can be applied to a work that is a transfer target of the present invention.

It is a layout figure which shows an example of a workpiece transfer apparatus. FIG. 6 is a perspective view showing a positioning means for performing a correction operation for matching a workpiece holding position with a reference position of a robot before a workpiece is taken out from the first pallet by the workpiece picking means and transferred to the second pallet. It is a workpiece transfer flowchart of this embodiment. It is a figure which shows the replacement | exchange work of the pallet which became empty. It is a layout diagram showing an example of a workpiece transfer system to which a rotary table is added when the number of workpieces increases. It is a top view of a workpiece taking-out means. It is a front view of a workpiece taking-out means. It is a side view of a workpiece taking-out means. It is an enlarged view of a suction holding position adjusting means. It is an enlarged view of a workpiece presence / absence detection means. It is a state diagram showing a workpiece holding position and a robot reference position, (A) is a state where the workpiece holding position and the robot reference position are coincident, (B) is a state where those positions are shifted to the left in the workpiece width direction, (C) shows a state in which those positions are shifted to the right in the workpiece width direction. The adjustment method which adjusts the position of the workpiece holding position in the workpiece width direction and the workpiece vertical direction and the reference position of the robot is shown, (A) shows the position adjustment in the workpiece width direction, and (B) shows the position adjustment in the workpiece vertical direction. It is.

Explanation of symbols

1 ... Handling robot (robot)
2 (2A to 2E) ... Rotary table 3 (3A to 3J) ... Workpiece (glass)
4 (4A-4J) ... 1st pallet 5 (5A-5C) ... 2nd pallet 6 ... control part 8 ... work area 10 ... wrist part of robot 11 ... work pick-up means 12, 49 ... suction pad 13 ... 1st 1 camera (imaging means)
14 ... Second camera (imaging means)
DESCRIPTION OF SYMBOLS 15 ... Light source 16 ... Deviation amount detection instruction means 41 ... Adsorption holding position adjustment means 42 ... Work presence / absence detection means 43 ... Work holding position adjustment means 44 ... Hand frame 47 ... Adsorption holding mechanism part (holding mechanism part)
48 ... Position adjustment mechanism 59 ... First table 60 ... Second table 66, 67 ... Work width longitudinal position adjustment reference pin (reference pin)
65 ... Reference pin (reference pin) for position adjustment in the workpiece depth direction

Claims (16)

In the assembly process for attaching different types of workpieces for different types of products, workpiece removal means are attached from a plurality of first pallets in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet A workpiece transfer method in which the workpiece is transferred to a second pallet and arranged so as to be in the production order of the product after the predetermined workpiece is taken out by the robot.
A plurality of rotary tables on which at least two or more first pallets are arranged are arranged around an area accessible by the robot, and a first pallet on which predetermined works to be taken out by rotating the rotary table are arranged. The workpiece transfer method, wherein the predetermined workpiece is taken out by the workpiece take-out means after the robot is arranged toward a position accessible by the robot. The workpiece transfer method according to claim 1,
When the work in the first pallet arranged at a position accessible by the robot becomes empty, the rotary table on which the empty first pallet is arranged is rotated so that the empty pallet and the work are arranged. A workpiece transfer method characterized by performing an operation of replacing a pallet on which is placed. A workpiece transfer method according to claim 1 or 2,
When an instruction to take out a workpiece to be transferred next is issued during the operation of transferring the workpiece to the second pallet, the robot is designated as the first pallet arranged at a position accessible by the robot. When there is no work, the work transfer method is characterized in that the rotary table is rotated to place the first pallet on which the designated work is placed toward a position accessible by the robot. A workpiece transfer method according to any one of claims 1 to 3, wherein
A workpiece transfer method comprising: performing a workpiece holding position correcting operation for matching a workpiece holding position at which the workpiece is held by the workpiece take-out means with a reference position of the robot, and then placing the workpiece on the second pallet. . The workpiece transfer method according to claim 4,
The workpiece holding position correcting operation images the holding position of the workpiece held by the workpiece take-out means, calculates a deviation amount of the workpiece holding position with respect to a predetermined position from the captured image, and the workpiece according to the deviation amount. A workpiece transfer method characterized by correcting the holding position and positioning. The workpiece transfer method according to claim 5,
The workpiece transfer method, wherein the workpiece is a transparent body, and light is emitted by irradiating light to an edge portion of the workpiece, and the light emitting portion is imaged by the imaging means. The workpiece transfer method according to claim 4,
The workpiece has a rectangular shape, and the workpiece holding position correction operation performs positioning in the workpiece depth direction, workpiece width direction, and workpiece vertical direction by bringing a reference pin into contact with the workpiece held by the workpiece take-out means. A workpiece transfer method characterized by this. In the assembly process of attaching different types of workpieces for different types of products, the production order of the products from a plurality of first pallets in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet A workpiece transfer device that transfers the workpiece to a second pallet that arranges the workpieces so that
A robot with workpiece removal means attached and capable of accessing the first pallet and the second pallet;
At least two or more first pallets, and a plurality of rotary tables arranged around an area accessible by the robot;
When the robot performs an operation of transferring the work taken out from the first pallet to the second pallet, and there is no work to be taken out from the first pallet arranged at a position accessible by the robot. And a control unit that performs an operation of rotating the rotary table to place a first pallet on which the work to be taken out is placed toward a position accessible by the robot. apparatus. The workpiece transfer device according to claim 8, wherein
When the work in the first pallet arranged at a position accessible by the robot becomes empty, the control unit rotates the rotary table on which the empty first pallet is arranged, A workpiece transfer device characterized by instructing an operation to replace an empty pallet with a pallet on which a workpiece is placed. The workpiece transfer device according to claim 8 or 9, wherein
When the robot is instructed to take out the workpiece to be transferred next during the operation of transferring the workpiece to the second pallet, the control unit is arranged in a position where the robot can access the first pallet. When there is no designated workpiece, the rotation table is rotated to instruct an operation to place the first pallet on which the designated workpiece is arranged toward a position accessible by the robot. Work transfer device. The workpiece transfer device according to any one of claims 8 to 10,
A workpiece transfer apparatus, comprising: a positioning means for matching a workpiece holding position where the workpiece is held by the workpiece picking means with a reference position of the robot. The workpiece transfer device according to claim 11,
The alignment means calculates an amount of deviation between an imaging means for imaging the holding position of the workpiece held by the workpiece picking means, and a holding position of the workpiece imaged by the imaging means and a normal holding position, and calculates the deviation amount. A workpiece transfer apparatus comprising: a deviation amount detection instructing unit that obtains and feeds back to the robot to instruct the robot to match the workpiece holding position with the reference position. The workpiece transfer device according to claim 12,
The workpiece transfer device, wherein the workpiece is a transparent body, and includes an irradiation unit that emits light by irradiating an edge of the workpiece with light, and the imaging unit images the light emitting unit. The workpiece transfer device according to claim 11,
The workpiece has a rectangular shape, and the positioning means performs positioning in the workpiece depth direction, workpiece width direction, and workpiece vertical direction by bringing the workpiece held by the workpiece removal means into contact with a reference pin, A workpiece transfer device characterized in that a workpiece holding position is matched with a reference position of the robot. In the assembly process of attaching different types of workpieces to different types of products, the production order of the products from a plurality of first pallets in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet A workpiece transfer system for transferring the workpiece to a second pallet that arranges the workpieces so that
A robot to which workpiece picking means is attached and which can access the first pallet and the second pallet, and at least two or more first pallets are arranged, and a plurality of them are arranged around an area accessible by the robot. With a rotating table,
When the number of types of workpieces increases, a rotary table for placing the first pallet is added around an area accessible by the robot,
When the robot performs an operation of transferring the work taken out from the first pallet to the second pallet, and there is no work to be taken out from the first pallet arranged at a position accessible by the robot. An operation for rotating the rotary table to place the first pallet on which the work to be taken out is arranged toward a position accessible by the robot is performed. The workpiece transfer system according to claim 15,
When the number of types of workpieces further increases, the rotary table is further added.

Images