JP2008213132A - General-purpose cell for production system and production system using general-purpose cell - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To highly maintain flexibility of line layout by high versatility as a general-purpose cell constituting a production system, and thereby to more suitably reduce loss in time and cost when changing a line constitution. <P>SOLUTION: As the general-purpose cell 100 constituting the production system, the one general-purpose cell 100 is constituted by making the minimum required elements for machining a workpiece, namely, a base unit 10 for supporting a robot 60, a parts supply unit 20 for supplying parts of the workpiece to the robot 60, and a machining area 30 provided on the base unit 10, as a set. The base unit 10 has a regularly hexagonal shape and movably supports the robot 60 to be used for carrying at least the workpiece on a plane region formed into the regularly hexagonal shape. An operation range of the robot 60 is set at a range from the inside of the base unit 10 to the outside in a form including the machining area 30. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a general-purpose cell for a production system and a production system in which line layout is performed using the general-purpose cell.

  In recent years, small-sized electrical products and electronic products have been produced in a variety of small-lot production and shortened product cycles, and the production lines for producing these electrical products and electronic products have been adapted to the products to be produced. Therefore, the line configuration tends to be frequently changed. Since these production lines require time and cost to change the line when shifting to the production of other products, they are often handled by manual cell production. From the aspect of quality and production stability, it is desired to automate the production line.

  Therefore, conventionally, as seen in, for example, Patent Document 1, a production system is configured as a plurality of assembly cells together with a conveyor that conveys a workpiece (workpiece) placed on a pallet as a holding medium. As a result, systems have been proposed that aim to reduce such time and cost losses associated with line configuration. In other words, in this system, it is possible to selectively supply parts to each of the divided cells from a plurality of separately provided parts supply apparatuses, and the cells themselves can handle a wide variety of workpieces. By providing a function for processing this, the loss of time and cost is reduced, and automation is promoted.

  Further, conventionally, as in the system described in Patent Document 2, for example, a robot is provided on a base of a cell (robot unit) adjacent via a workbench, and an assembly tool for the robot and a workpiece are provided. A system has also been proposed in which a part is transported to a corresponding cell and the robot itself attaches / detaches the assembly tool and processes the workpiece. Thus, the assembly tool required for the robot of each cell is carried in together with the parts of the workpiece, and the used assembly tool is carried out together with the workpiece processed by the robot. By providing the transport means, the automation can be further promoted.

On the other hand, in view of the inconvenience that the robot is installed on the base as in the conventional system described in Patent Document 3, for example, the robot is suspended from a ceiling through a support member separate from the assembly worktable. In addition, there is also a type in which a component supply unit that supplies components to the movable range of these robots is arranged facing the robots. By supporting the robot in a ceiling-like manner in this way, it is possible to secure a wide space on the assembly work table (base), and thus to maintain a higher degree of freedom for the assembly operation on the assembly work table. become able to.
Japanese Patent No. 3333668 Japanese Patent No. 3673117 JP 2006-43844 A

  As described above, although various systems have been proposed in the past in order to reduce time and cost loss required for changing the line configuration as a production system and to promote automation, From the viewpoint of general versatility, freedom of line layout, etc., there is still room for improvement.

  For example, in the case of the cell or system described in Patent Document 1, it is necessary to prepare a pallet for holding the workpiece separately from a plurality of types of workpieces (products) to be produced. When the system is put to practical use, a large amount of pallets is required, and the time and cost for designing and manufacturing cannot be ignored. Moreover, since these pallets are transported by a conveyor, there is a disadvantage that the production amount and production capacity as a line are limited by the transport capability of the conveyor itself.

  Further, in the system described in Patent Document 2, although the conveyor and the like are not necessary, since the robot is installed on the base constituting the cell as described above, the assembly by the robot itself is performed. In addition to attaching and detaching the tool, there is no limitation on the work area for processing the workpiece, and further on the size of the tray conveyed by the conveying means. Further, in the same system, if it is intended to secure a large work area and tray size, it is inevitable that the entire production system including the cell is enlarged.

  And although it is possible to secure a wide space on the assembly workbench in the system described in the above-mentioned Patent Document 3, since the component supply unit is structured to be opposed to the assembly workbench, the line The degree of freedom in layout is naturally limited, and eventually it is difficult to reduce the time and cost loss required to change the line configuration.

  The present invention has been made in view of such circumstances, and its purpose is to maintain a high degree of freedom of line layout due to its high versatility as a cell. It is an object of the present invention to provide a general-purpose cell for production system that can more suitably reduce cost loss and a production system using the general-purpose cell.

  The general-purpose cell for a production system of the present invention is a production system for processing and feeding an accepted workpiece, and the plane shape is a pentagonal shape as a general-purpose cell for a production system that is generally used for processing and conveying the workpiece. A base unit composed of the above polygons, and at least a robot used for transporting the workpiece is supported so as to be movable on a plane area composed of the polygons, and a robot supported by the base unit A component supply unit that supplies components of the workpiece and a processing area provided inside the base unit, and an operation range of the robot supported by the base unit includes the processing area, The range is set from the inside to the outside of the base unit.

According to such a configuration as a general-purpose cell for a production system, a set of elements required for processing a workpiece as a cell for a production system, such as a base unit, a component supply unit, and a processing area. One general-purpose cell is configured. For this reason, the degree of freedom of work assignment to the cell, that is, versatility is naturally increased, and various production functions required for the production system can be realized only by listing the cells. That is, the degree of freedom of the line layout when configuring the production system is maintained high. In this general-purpose cell, the machining area is provided inside the base unit, and the operating range of the robot provided in the base unit is set to the range from the inside to the outside of the base unit, including the machining area. Therefore, the use as such a processing area naturally expands. For example, (a) Use as an area for installing a dedicated processing machine for performing a required processing on a workpiece conveyed by a robot.
(B) Use as an area for the robot itself to perform required machining on the workpiece.
The processing area can be used for various purposes. Even in this case, since the parts required for processing the workpiece are supplied for each cell through the above-mentioned parts supply unit, the work or production function assigned in units of the cell is completed for each cell. Will come to be. In addition, since the base unit itself is made of a polygon having a pentagonal shape or more, the degree of freedom in enclosing the cells in a form that shares the movement range of the robot with each other can be maintained higher, and the robot Is supported by the base unit so as to be movable in the polygonal plane area, so that the area constituting the base unit can be effectively used, resulting in unnecessary enlargement as the general-purpose cell. Nothing will happen.

  Further, in this general-purpose cell for production system, a feed material and a material removal area used for at least one of supply of the workpiece to the cell and exclusion of the workpiece from the cell are within the operation range of the robot. You may make it employ | adopt the structure extended further outside the said base unit in the aspect accommodated.

  According to such a general-purpose cell for a production system, for example, a workpiece can be transferred between the cells through the above-mentioned feed and material removal areas within the operation range of the robot. -It becomes easy to supply the workpiece to the cell by the brigade (bucket relay) system and to remove the workpiece from the cell.

  Further, in such a general-purpose cell for production system, a ceiling portion supported via a support column is provided above the base unit, and the robot is supported by the base unit in a manner of being suspended from the ceiling portion. The support mode of the robot is effective.

  As an example of a support form in which the robot is supported by the base unit so that the robot can move in the polygonal plane area as in this general-purpose cell for production system, the robot is thus suspended from the ceiling in the base unit. By supporting the robot in such a manner, the operating range of the robot can also cover a wide range including the entire area below the robot, and particularly the base unit is configured including the processing area. Further effective utilization of the area will be achieved.

  In such a general-purpose cell for a production system, the robot has first and second arms having a circular or arc-shaped operation area, and the second arm is connected to the first arm. It is particularly desirable to employ a SCARA robot that can pass through overlapping positions.

  According to this general-purpose cell for a production system, the robot includes the first and second arms that can pass through overlapping positions based on a circular or arcuate operating range. From this, the movement range of the robot as a whole is also based on the circular or arc shape by the cooperation of the first and second arms, and the inside of the circular or arc shape, that is, from the inside to the outside of the base unit. The necessary area can be efficiently covered in the robot movement range that is set to reach.

  In such a general-purpose cell for a production system, the processing area is provided as a processing stage on the base unit, and the component supply unit is configured to process a component tray on which the component of the workpiece is placed. It is desirable to have a tray feeder that conveys below the stage.

According to this general-purpose cell for a production system, the components that are placed on the component tray and supplied from the component supply unit can be conveyed below the processing area by the tray feeder. This facilitates parts supply near the base unit, picking up the corresponding parts by the robot, and transporting the picked-up parts to the processing area by the robot, and as a processing stage on the base unit. Effective use of the entire processing area to be provided is also achieved.

  Further, in such a general-purpose cell for production system, the processing area is provided as a processing stage on the base unit, and the component supply unit is located in the base unit and around the processing stage. It is also possible to adopt a structure for supplying parts of objects.

  According to this general-purpose cell for production system, the parts of the workpiece are directly supplied from the component supply unit provided in the base unit to the periphery of the processing area provided as a processing stage on the base unit. In addition to the smooth execution of the pick-up operation of the corresponding part by the robot and the transport operation of the picked-up part to the processing area by the robot, and the effective use of the entire processing area, the plane as the general-purpose cell It will also be possible to expect a smaller size.

  On the other hand, in such a general-purpose cell for a production system, the base unit is provided with a side wall standing upright from the base unit so as to be separated from the processing area, and the robot is supported by the base unit in a manner protruding from the side wall. The robot support mode is also effective.

  As another example of the support form in which the robot is supported by the base unit so as to be movable in the polygonal planar area as in this general-purpose cell for production system, the robot is thus provided in the base unit. It is also possible to adopt a form that is supported in a manner protruding from the side wall. Also in this case, it is easy to secure a necessary area as a base unit including a processing area.

  In such a general-purpose cell for a production system, the processing area is provided as a processing stage on the base unit, and the component supply unit is provided by a component tray on which the component of the workpiece is placed. It is desirable that the parts are supplied from the back side of the side wall to the vicinity of the processing area.

  According to this general-purpose cell for a production system, a component placed on a component tray and supplied from a component supply unit is transported to the vicinity of a processing area. That is, after the parts are transported by the parts supply unit, the parts tray on which the parts are placed is placed near the processing stage. As a result, even if the robot is provided so as to protrude from the side wall on the base unit, the robot can smoothly perform the operation of picking up the corresponding part and the operation of transporting the picked-up part to the processing area by the robot. At the same time, the entire machining area provided as a machining stage on the base unit can be used effectively.

  Further, in such a general-purpose cell for production system, the processing area is provided as a processing stage on the base unit, and the component supply unit is located in the base unit and around the processing stage. It is possible to provide a structure for supplying the parts.

  Even with this general-purpose cell for production system, the parts of the workpiece are directly supplied from the component supply unit provided in the base unit to the periphery of the processing area provided as a processing stage on the base unit. In addition to the smooth execution of the pick-up operation of the corresponding part by the robot and the transfer operation of the picked-up part to the processing area by the robot, and the effective use of the entire processing area, the planar as the general-purpose cell The miniaturization of the physique will also be expected.

  On the other hand, in this general-purpose cell for production system, it is also effective to adopt a structure in which the planar shape of the cell itself including the component supply unit and the processing area provided in the base unit is a pentagon or more polygon. is there.

  According to this general-purpose cell for a production system, the planar shape of the cell itself including the component supply unit and the processing area forms a polygon similar to that of the base unit, so that the line layout design as a production system becomes easier. In particular, when adopting a configuration in which the parts of the workpiece are directly supplied from the component supply unit provided in the base unit to the periphery of the processing area provided as a processing stage on the base unit, Since the relationship of “planar shape of the unit = planar shape of the cell itself” will be established, the miniaturization of the planar structure of the general-purpose cell itself will be promoted. Further improvement in layout flexibility will be achieved.

Further, in this general-purpose cell for production system, it is more effective to adopt a structure in which the planar shape composed of the polygons of the pentagon or more is a regular hexagon.
As in the general-purpose cell for production system, the planar shape of the base unit or the general-purpose cell itself is a regular hexagon, so that a higher degree of freedom and a higher-density cell arrangement are possible. In particular, when the planar shape of the general-purpose cell itself is a regular hexagon, the line layout with the highest efficiency and the highest degree of freedom as seen in the so-called “honeycomb structure” can be achieved.

On the other hand, in this general-purpose cell for production system, when a dedicated processing machine for processing the workpiece is installed in the processing area, the robot is
a. Conveying the workpiece to the processing area; and b. Pick-up of components supplied via the component supply unit; and c. Incorporating the picked-up part into the workpiece; and d. Sending out the workpiece processed through the processing machine,
The function setting of the cell can be performed as the above operations.

  This general-purpose cell for a production system embodies the use mode of the processing area exemplified as (a) above. That is, here, since the processing of the workpiece is performed exclusively through the processing machine installed in the processing area, even if the production system is configured by the enumeration of the cells, the robot provided in the base unit is A. ~ D. It is only necessary to repeatedly execute this operation. As a result, standardization as such a general-purpose cell is promoted, and its versatility is maintained extremely high.

In the general-purpose cell for production system, the robot
a. Conveying the workpiece to the processing area; and b. Pick-up of components supplied via the component supply unit; and c. Incorporating the picked-up part into the workpiece; and d. Machining in the machining area of a workpiece incorporating the part; and e. Sending out workpieces processed in this processing area,
It is also possible to set the function of the cell as performing these operations.

This general-purpose cell for a production system embodies this with respect to the usage mode of the processing area exemplified as (b) above. Here, the a. ~ E. That is, all operations to be performed as the cell are performed. For this reason, when configuring a production system with a list of the same cells, it is necessary to set (program) the processing contents to be performed by the robot for each cell, but even if these setting contents are registered in a storage device or the like in advance, For example, the line configuration can be changed by updating the setting contents for each cell, and the required versatility is maintained in this case as well.

Furthermore, in this general-purpose cell for production system, when an auto tool changer is installed in the processing area, the robot automatically replaces its own hand,
a. Pick-up of components supplied via the component supply unit; and b. Incorporating the picked-up part into the workpiece; and c. Machining a workpiece incorporating the part; and d. Delivering the processed workpiece; and e. The a. ~ D. Automatic replacement of robot hands as needed for the operation of
It is also possible to set the function of the cell as performing these operations.

  This general-purpose cell for production system embodies a further different aspect regarding the utilization aspect of the processing area. In this case as well, basically, the above-described a. ~ E. That is, all operations to be performed as the cell are performed. Moreover, the above e. Since the robot hand (tool) is automatically changed as necessary through an auto tool changer installed in the processing area as the operation, it is possible to deal with more kinds of work. However, even in this case, when the production system is configured by enumerating the cells, it is necessary to set (program) the processing contents to be performed by the robot for each cell. By registering in the above, the required versatility as the cell through updating the setting contents is preferably maintained.

  In the production system using the general-purpose cell of the present invention, a plurality of such production-system general-purpose cells are arranged in such a manner that adjacent cells share a part of the operation range of the robot. Take.

  The general-purpose cell for production system used here consists of a set of elements required for processing a workpiece as a cell for the production system, such as a base unit, a component supply unit, and a processing area. As described above, the degree of freedom of work assignment to cells, that is, versatility is greatly improved. For this reason, according to the production system of the present invention in which a plurality of such general-purpose cells are arranged in such a manner that cells adjacent to each other share a part of the operation range of the robot, The flexibility of the line layout itself is maintained as well as the need for pallets, conveyors, etc., and depending on the polygonal shape, for example, workpieces can be sent out in two directions, or workpieces from two directions Line configuration that accepts, or “Y” -shaped line configuration that branches or merges in the middle, or a line configuration that combines these branches and merges in parallel, or even an arc (closed loop) Including a staggered line configuration, etc., and a very free line layout according to the space where the production system is installed, etc. It can become.

  Further, in such a production system, the workpiece automatic conveyance unit that automatically conveys the workpiece to enable transfer of the workpiece within the operation range of the robots between cells where the operation range of the robot does not reach. A configuration further including the above is effective.

  According to such a production system, in addition to the line layout in the above-described aspect, more various line layouts such as paralleling a part or all of the lines through the workpiece automatic conveyance unit are possible. It becomes easy to adjust the line speed and the conveyance timing according to the processing contents of the workpiece between the cells.

(First embodiment)
Hereinafter, a general-purpose cell for a production system according to the present invention and a first embodiment in which a production system using the general-purpose cell is embodied will be described with reference to the drawings.

FIG. 1 shows an overall perspective structure of a general-purpose cell for production system according to the first embodiment.
As shown in FIG. 1, the general-purpose cell 100 includes a component supply unit 20 that is connected to the base unit 10 that supports the robot 60 in the X-axis direction in the three-dimensional coordinates added in the drawing, The base unit 10 has a processing area 30 inside. And in this embodiment, each part of these base unit 10, the component supply unit 20, and the process area 30 which comprise the general purpose cell 100 consists of a rigid metal etc., and is mutually connected suitably, Through the casters 41 and the foot jacks 42 provided on the lower surface 40, movement and installation in units of cells are possible. That is, the general-purpose cell 100 can be moved on the floor surface in an arbitrary direction by a caster 41 provided on the lower surface 40, and can be moved to a desired installation position through a foot jack 42 provided on the lower surface 40. Can be fixed. In the present embodiment, the planar shape of the base unit 10 is a regular hexagon, and line layout design when a production system is configured using a plurality of such general-purpose cells 100 is facilitated. In the general-purpose cell 100, a cabinet 43 is provided below the base unit 10, and in the cabinet 43, control for overall control of each part of the general-purpose cell 100 including the robot 60 is performed. The device etc. are accommodated.

Here, the specific configuration of the base unit 10 will be described first.
As shown in FIG. 1, the base unit 10 is provided with a ceiling portion 11r supported by a column 11p. The robot (scalar type robot in this example) 60 has the ceiling portion 11r. It is supported by the base unit 10 in such a manner that it is suspended from the base unit 10. That is, the robot 60 is supported by the base unit 10, precisely the ceiling portion 11 r, so as to be movable in the X, Y, and Z directions of the three-dimensional coordinates on the planar hexagonal region 12 corresponding to the upper surface of the base unit 10. ing. And in this embodiment, in a mode in which the material to be supplied to the cell 100 and the material removal area 52a to 52e of the work piece (workpiece) are within the operation range of the robot 60, The side plates 13 a to 13 d provided on the side edges of the region 12 or the processing area 30 are extended from the tip end in the X direction in the drawing to the side of the base unit 10. 2A and 2C show the bottom structure of the robot 60, FIGS. 2B and 2D show the side structure of the robot 60, and FIGS. c) shows an operation mode and an operation range as viewed from below the robot 60, respectively. Hereinafter, the configuration and functions of the robot 60 will be described in more detail with reference to FIGS. 2 (a) to 2 (d) and FIGS. 3 (a) to 3 (c).

As shown in FIGS. 2A to 2D, the robot 60 is provided by a first shaft 61 that is provided so as to penetrate the ceiling portion 11r and extend vertically from the ceiling portion 11r. The first and second arms 62 and 64 are supported and can be individually rotated in the horizontal direction via the first shaft 61 and the second shaft 63, respectively. Among these, a third shaft 65 extending in the same direction (vertical direction) as the first and second shafts 61 and 63 is further provided at the tip of the second arm 64, and this third A portion of the shaft 65 positioned below the second arm 64 is provided with a head unit 66 that can rotate independently of the rotation of the second arm 64 in the horizontal direction. The head unit 66 has a tool attachment 67 at the tip thereof, and a position (shortest position) stored in the third shaft 65 in a state where an arbitrary tool is attached to the tool attachment 67. ) To a position (longest position) extended by a distance L1 indicated by a broken line in FIGS. 2 (b) and 2 (d). The first shaft 61 is rotated to the left and right around the center line C1 through a first motor M1 provided therein, thereby the first arm 62 having a tip connected to the coaxial 61. The rotation angle of the first arm 62, that is, the rotation angle of the first arm 62 is monitored through the first encoder Em1 provided in the first shaft 61. The second shaft 63 rotates left and right around the center line C2 through a second motor M2 provided therein, thereby the second arm 64 having a tip connected to the coaxial 63. The rotation angle of the second arm 64, that is, the rotation angle of the second arm 64 is monitored through the second encoder Em2 provided in the second shaft 63. The head unit 66 that rotates and expands and contracts within the third shaft 65 rotates left and right around the center line C3 through a third motor M3 provided in the second arm 64, and the rotation angle thereof. Is monitored through a third encoder Em3 which is also provided in the second arm 64. On the other hand, the expansion / contraction of the head unit 66 is controlled by the elevating motor M4 provided in the second arm 64, and the controlled expansion / contraction degree is also provided in the second arm 64. It is monitored through the lifting encoder Em4. Each signal line of the control signal or monitor signal of the motor or encoder is connected to each corresponding terminal of the control device accommodated in the cabinet 43.

  As shown in FIGS. 3A to 3C, in the robot 60, the first and second arms 62 and 64 both pass through positions where their operation regions overlap each other based on a circle. The same length can be set, and the operation of all the circular regions shown as the operation range Ra1 in FIG. 3A is covered by the cooperation of these arms. That is, FIG. 3A shows a state in which the robot 60 in a so-called origin posture in which the first and second arms 62 and 64 overlap in a “U” shape is viewed from below. In this embodiment, in this state, the second arm 64 can rotate by 225 ° clockwise and counterclockwise about the point P1, and similarly, The first arm 62 can also be independently rotated by swinging the point P1 clockwise and counterclockwise by 225 ° around the center point of FIG. Incidentally, FIG. 3B shows the rotation trajectory of the first and second arms 62 and 64, that is, the operation range Ra2, and the first arm 62 moves the second arm 64 clockwise by 225 °. Assuming that the second arm 64 is swung, the second arm 64 can rotate 225 ° clockwise and counterclockwise from the point P1 to the point P2. Similarly, FIG. 3C shows the rotation trajectory of the first and second arms 62 and 64, that is, the operation range Ra3. The first arm 62 counteracts the second arm 64 counterclockwise 225. Assuming that the second arm 64 is swung by degrees, the second arm 64 can rotate 225 degrees clockwise and counterclockwise around the points from the point P1 to the point P3. Then, FIG. 3A shows a combination of these rotation trajectories, and as a result, the operation range Ra1 is shown by the cooperation of the first and second arms 62 and 64 as described above. The operation in the entire circular area is covered. In the present embodiment, the head unit 66 can also be rotated by 225 ° clockwise and counterclockwise independently of the second arm 64.

  By such an operation as the robot 60, at least all the blind spots in the base unit 10 are eliminated. For this reason, the general-purpose cell 100 shown in FIG. 1 can smoothly transport a workpiece, pick up a component placed on a component tray (not shown) conveyed through the tray feeder 21 of the component supply unit 20, and the like. Will be executed.

In the general-purpose cell 100 shown in FIG. 1, an operation panel OP having a keyboard, a display device for monitoring (not shown) or the like (not shown) is provided on the ceiling 11r of the base unit 10; Various settings required for each cell can be made through this operation panel OP. In addition, the status indicator PL provided on the operation panel OP is a device that informs an operator or the like of the operation state of the general-purpose cell 100 each time through light emitters of different colors.

  FIG. 4 shows the planar structure of the general-purpose cell 100 including the component tray Tr that is not shown in FIG. 1 for the sake of convenience. In this general-purpose cell 100, the operation range of the robot 60 is shown in FIG. The range shown as the operation range Ra1 (two-dot chain line), that is, the range from the inside to the outside of the base unit 10 is set in a form including the processing area 30. Thereby, the pick-up of the component from the component tray Tr supplied through the component supply unit 20 demonstrated below, the conveyance (movement) of the workpiece | work between the said material supply, material removal area 52a-52e, and the process area 30 etc. However, it can be easily realized with high versatility.

  FIG. 5 also shows the planar structure of the general-purpose cell 100 as in FIG. 4, but here, in particular, the planar structure of the component supply unit 20 is mainly illustrated. Next, FIG. In addition, the configuration and function of the component supply unit 20 will be described in detail, including the relationship with the processing area 30.

  As shown in FIG. 5, the component supply unit 20 has a pair of rails 22 a and 22 b laid on the region 12 made of the planar hexagon on the upper surface of the base unit 10. A tray feeder 21 that automatically conveys the component tray Tr provided with the component placement pockets P in the X direction in the figure through 22b is configured. Here, a ball screw (not shown) is disposed in each of the pair of rails 22a and 22b over the entire length of the rail, and is screwed into the ball screw before and after the component tray Tr. Claws 23a, 23b and 24a, 24b to be engaged are provided. That is, in the tray feeder 21, the claws 23a, 23b and 24a, 24b engaged so as to be engaged with each other through the rotation of the ball screws respectively arranged with respect to the inside of the pair of rails 22a, 22b. The component tray Tr is automatically conveyed at any time in the X direction in the drawing. In the tray feeder 21, the rotation of the ball screw is performed through first and second shuttle motors MSa and MSb provided at the base end of the tray feeder 21. The amount of rotation of the first and second shuttle motors MSa and MSb, that is, the amount of movement of the component tray Tr is monitored through first and second shuttle encoders ESa and ESb that are also provided at the base end of the tray feeder 21. . The signal lines of these shuttle motors and shuttle encoders are also connected to the corresponding terminals of the control device accommodated in the cabinet 43, like the signal lines of the motors and encoders of the robot 60.

  Further, as shown in FIG. 1, the pair of rails 22 a and 22 b are laid so as to reach the lower part of the processing area 30 provided above the region 12 of the base unit 10. Then, the component tray Tr on which required components are placed at a position indicated by a two-dot chain line in FIG. 5 is made desirable in the manner shown by the arrow F1 in FIG. 5 through the tray feeder 21. It will be automatically conveyed to a certain position at any time. As described above, since the component tray Tr can be transported to a position lower than the processing area 30, the pick-up operation of the component by the robot 60, the transport operation of the picked-up component to the processing area 30 by the robot 60, etc. Will be made smoothly. In addition, this makes it possible to sequentially adjust the transport position of the component tray Tr (feed position at the tray feeder 21) in order to compensate for the limited operating range of the robot 60 while always effectively using the entire processing area 30. Will be able to.

On the other hand, as shown in FIG. 1, the machining area 30 has a step at a position higher than the base unit 10, more precisely, the region 12 made of the planar hexagon corresponding to the upper surface of the base unit 10. It is horizontally provided at a position in the middle of the column 11p that stands upright with respect to the unit 10. By the way, this processing area 30 has a structure in which the four corners of the stage 31 are supported by the pillars 11p, respectively. In the present embodiment, the processing area 30 is allocated to the work for each cell on the stage 31. A processing machine 70 for performing dedicated processing is installed. The configuration of the processing machine 70 itself is arbitrary, such as adopting a dedicated robot, but at least such a processing machine 70 is basically installed on the stage 31 of the processing area 30 to serve as the general-purpose cell 100. Therefore, it is only necessary to carry the workpiece and pick up the parts through the robot 60, and the standardization is promoted. As shown in FIG. 4, the processing machine 70 is provided with a work holding area 71 for holding the transferred work. The workpiece holding area 71 is provided with a chuck (not shown) for holding the workpiece, and this chuck is opened and closed by driving a switching valve BL1 provided in the workpiece holding area 71. Further, whether or not the workpiece is held through the chuck is monitored through a sensor U1 provided in the workpiece holding area 71. The signal lines of these valves and sensors are also accommodated in the cabinet 43 in the same manner as the signal lines of the motors and encoders of the robot 60 and the shuttle motors and shuttle encoders of the tray feeder 21. Connected to each corresponding terminal of the controller.

Here, an electrical configuration of the general-purpose cell 100 centering on the control device will be described with reference to FIG.
As shown in FIG. 6, the control device housed in the cabinet 43 is basically composed of a computer and is connected to the control unit 110 by a bus connection to the control unit 110 that performs overall control of the respective units. It is configured as a device including various driver circuits and interface circuits.

  Among these, the control unit 110 is a part that generates and outputs a control signal for each corresponding actuator by executing the program stored in the ROM 112 through the CPU 111 while capturing the various monitor signals described above. The RAM 113, which is a data memory, temporarily stores the captured monitor signal, the calculation result when generating the control signal, and the like. Further, the communication IF (interface) 114 is arranged between the central control unit serving as a main control device and other general-purpose cells when arranging a plurality of general-purpose cells 100 as a production system and forming a desired line layout. This is the part that performs communication. Based on such information exchanged through the communication IF 114, timing adjustment with other general-purpose cells can be achieved. For convenience in such communication, each general-purpose cell is assigned a unique identifier (ID) in the system to the control unit 110 for each cell.

On the other hand, various driver circuits and interface circuits that are bus-connected to the control unit 110 are as follows.
First, the first motor driver 101 is a circuit that drives a first motor M1 provided in the first shaft 61 of the robot 60 by a drive signal DM1 generated based on a control command CM1 from the control unit 110. It is. Further, in the first motor driver 101, the rotation of the first arm 62 corresponding to the signal monitored through the first encoder Em1 similarly provided in the first shaft 61, that is, the driving amount of the first motor M1. An operation of capturing the signal S1 indicating the angle and returning the captured monitor signal S1 to the control unit 110 is also executed.

The second motor driver 102 is a circuit that drives the second motor M2 provided in the second shaft 63 of the robot 60 by a drive signal DM2 generated based on the control command CM2 from the control unit 110. It is. Further, in the second motor driver 102, the rotation of the second arm 64 corresponding to the signal monitored through the second encoder Em2 similarly provided in the second shaft 63, that is, the driving amount of the second motor M2. An operation of capturing the signal S2 indicating the angle and returning the captured monitor signal S2 to the control unit 110 is also executed.

  Further, the third motor driver 103 drives the third motor M3 provided in the second arm 64 of the robot 60 by a drive signal DM3 generated based on the control command CM3 from the control unit 110. Circuit. Further, in the third motor driver 103, the rotation angle of the head unit 66 corresponding to the signal monitored through the third encoder Em3 provided in the second arm 64, that is, the driving amount of the third motor M3 is set. A signal S3 is fetched and an operation of returning the fetched monitor signal S3 to the control unit 110 is also executed.

  The lift motor driver 104 is a circuit that drives a lift motor M4 provided in the second arm 64 of the robot 60 by a drive signal DM4 generated based on a control command CM4 from the control unit 110. is there. In the lift motor driver 104, a signal S4 indicating the degree of expansion / contraction of the head unit 66 corresponding to the drive amount of the lift motor M4, that is, a signal monitored through the lift encoder Em4 provided in the second arm 64. And the operation of returning the captured monitor signal S4 to the control unit 110 is also executed.

  The first shuttle motor driver 105 is a circuit that drives the first shuttle motor MSa provided in the tray feeder 21 by a drive signal DMSa generated based on a control command CMSa from the control unit 110. Further, in the first shuttle motor driver 105, the signal monitored through the first shuttle encoder ESa similarly provided in the tray feeder 21, that is, the movement amount of the component tray Tr corresponding to the driving amount of the first shuttle motor MSa is obtained. An operation of fetching the signal SSa shown and returning the fetched monitor signal SSa to the control unit 110 is also executed.

  The second shuttle motor driver 106 is a circuit that drives the second shuttle motor MSb provided in the tray feeder 21 by a drive signal DMSb generated based on a control command CMSb from the control unit 110. Further, in the second shuttle motor driver 106, a signal monitored through the second shuttle encoder ESb similarly provided in the tray feeder 21, that is, the movement amount of the component tray Tr corresponding to the driving amount of the second shuttle motor MSb is obtained. An operation of taking in the signal SSb shown and returning the fetched monitor signal SSb to the control unit 110 is also executed.

  The valve driver 107 is a circuit that drives the switching valve BL1 provided in the work holding area 71 of the processing machine 70 based on a control command CMBc from the control unit 110. In the present embodiment, the chuck that holds the workpiece in the workpiece holding area 71 is assumed to be a chuck that opens and closes based on whether compressed air is supplied or not, and the switching valve BL1 is based on its driving. Thus, it is configured as a valve for switching and controlling whether or not compressed air is supplied.

The external input / output IF (interface) 108 is basically connected to a peripheral device such as a teaching pendant or a personal computer, and mediates various information exchanged between the peripheral device and the control unit 110. It is a circuit to perform. However, in the present embodiment, information monitored through the sensor U1 provided in the workpiece holding area 71, that is, information SBc indicating whether or not the workpiece is held through the chuck is fetched, and the fetched monitor information is acquired. The operation of outputting SBc to the control unit 110 is also performed through the external input / output IF 108. Further, in the present embodiment, the above-described processing machine 70 is also connected to the external input / output IF 108 as one of the peripheral devices, and the operation synchronous adjustment between the control unit 110 and the processing machine 70 is performed. And the like are also performed through the external input / output IF 108.

  FIG. 7 shows an operation example of the general-purpose cell 100 configured as described above as a single cell. Next, an example of an operation executed through the general-purpose cell 100 with reference to FIG. Will be described.

  In the present embodiment, as described above, the dedicated processing machine 70 is installed on the stage 31 of the processing area 30, so that the general-purpose cell 100 can basically transport workpieces and the parts thereof through the robot 60. It is only necessary to pick up, and the standardization is promoted. The following operations as the general-purpose cell 100 are all performed in cooperation with the above-described control by the control device.

  That is, as shown in FIG. 7 (a), if the workpiece W, which is a workpiece, is supplied to the material supply / removal area 52a, the general-purpose cell 100 uses the same feed material, The workpiece W is moved to the material removal area 52a, and the supplied workpiece W is gripped through an appropriate tool for workpiece conveyance attached to the robot 60.

  Next, the general-purpose cell 100 that has gripped the workpiece W by the robot 60 then transports the workpiece W into the machining area 30 while gripping the workpiece W. The workpiece W transported in the manner shown in FIG. The workpiece is set in the work holding area 71 of the processing machine 70.

  When the setting of the workpiece W to the workpiece holding area 71 is completed in this manner, the general-purpose cell 100 next moves the component T placed in the pocket P of the component tray Tr by the robot 60 in the manner shown in FIG. Pick up. The component tray Tr on which the component T used for processing the workpiece W is placed has already been transferred to a predetermined position through the tray feeder 21 (FIG. 5) before the process shown in FIG. 7A. Yes. In addition, the part T thus picked up by the robot 60 is also incorporated into the workpiece W set in the workpiece holding area 71 at this time through the robot 60.

  When the part T is incorporated in the workpiece W in this way, dedicated processing by the processing machine 70 is performed thereafter according to an instruction from the control unit 110 of the general-purpose cell 100. Then, when the processing by the processing machine 70 is finished, when information to that effect is sent to the control unit 110 through the processing machine 70, the general-purpose cell 100 determines that the processing by the processing machine 70 is finished. The holding (setting) of the workpiece W is released.

  The general-purpose cell 100 that has determined that the processing by the processing machine 70 has ended is again gripped by the robot 60 with the processed workpiece W in the workpiece holding area 71, and this is shown in the manner shown in FIG. The material is conveyed to the material supply / removal area 52b, and the series of operations ends.

In addition, while such an operation is repeatedly performed, every time the pickup by the robot 60 of the component T placed on the component tray Tr is completed for each row from the top of the tray Tr, the tray feeder 21 is performed. Through (FIG. 5), the position of the component tray Tr is sequentially shifted forward (in the direction of the processing area 30) by an amount corresponding to the placement interval of the component T. When it is determined that all the components T placed on the component tray Tr have been assembled, the tray feeder 21 uses the tray feeder 21 to the base end position indicated by the two-dot chain line in FIG. A return feed of the component tray Tr is performed, and the supply of the component T to the tray Tr is prompted.

  FIG. 8 shows an example of a production system configured by using a plurality of such general-purpose cells 100 (four general-purpose cells 100A to 100D in this example). Hereinafter, such a production system will be described. A configuration example as well as its possibility will be described.

  As shown in FIG. 8, this production system employs a line layout in which the general-purpose cells 100 (100A to 100D) are arranged in a line in the drawing. That is, in this case, the cells 100A to 100D are arranged in such a manner that the cells adjacent to each other share a part of the operation range of the robot 60 (60A to 60D). Then, any one of the portions that become the material supply and material removal areas 52a and 52c is used as a portion where the operation range of the robot 60 is shared by the cells adjacent to each other. Specifically, for example, between the general-purpose cell 100A and the general-purpose cell 100B, the material supply and material removal areas 52a and 52c interposed between the cells are used as a material removal area for the cell 100A and at the same time for the cell 100B. Is used as a feeding area.

  FIG. 9 schematically shows an electrical configuration when a production system (production line) is configured using a plurality of general-purpose cells 100 in this way. As shown in FIG. 9, the operation between the plurality of general-purpose cells 100 (100A to 100n (n: natural number)) is actually performed through communication with the central control unit 120 which is not shown in FIG. Timing and the like are synchronized.

  Incidentally, in the central control unit 120 shown in FIG. 9, the host computer 121 is a part that performs overall control of the entire production system, and the database 122 includes, for example, production management information for each production target and changes in production lines. This is a part in which the control data, control program, etc. of each general-purpose cell 100 required at times are stored. The input / output device 123 is a portion mainly composed of a keyboard, a display device, a printing device, and the like. Through these keyboard, display device, and printing device, input of control information to the host computer 121 and display of the operating status of the entire system are performed. Printing is performed. A communication IF (interface) 124 is a part that mediates communication between the central control unit 120 and each of the general-purpose cells 100. Each of the general-purpose interfaces shown in FIG. It is connected to a communication IF 114 provided in the control unit 110 of the cell 100.

  The production system illustrated in FIG. 8 is electrically connected in such a manner as to be communicable, thereby avoiding interference between the robots 60A to 60D under the overall control by the central control unit 120. Specifically, the workpiece is processed and conveyed in the following manner.

  That is, now, assuming that the loading of the workpiece into the material supply / removal area 52a of the first general-purpose cell 100A is started, the workpiece loaded by the robot 60A is placed on the stage (machining stage) in the general-purpose cell 100A as described above. 31. More precisely, it is transferred to a work holding area of a processing machine (not shown) installed thereon. Then, after the parts are incorporated into the workpiece and processed by the processing machine in the above-described manner, the processed workpiece is fed by the robot 60A, and the material removal area 52c (feeding for the cell 100B, It is conveyed to the material removal area 52a). It should be noted that the processing related to the feeding of the general-purpose cell 100A that has finished transporting the workpiece to the material-removing area 52c, the loading of the workpiece into the material-removing area 52a, and the conveyance and processing of the workpiece by the general-purpose cell 100A are as follows. The process is repeated until the predetermined number of workpieces have been input.

On the other hand, the general-purpose cell 100 in which the workpiece is carried (supplied) to the material supply / removal area 52a in this way.
In B, as described above, the workpiece carried by the robot 60B is transported to the stage 31 and processed by a dedicated processing machine. After the processing by the processing machine, the processed workpiece is transferred to the material supply / removal area 52c (the material supply / removal area 52a for the cell 100C) by the robot 60B. Such processing by the cell 100B is also repeatedly executed until the work has been carried into the material supply / removal area 52a.

  Hereinafter, the same processing is also executed in the general-purpose cells 100C and 100D, and in particular, the work carried out from the final stage cell 100D to the material supply / removal area 52c is not shown as a finished product or a semi-finished product. And so on.

  As described above, in the production system using the general-purpose cell according to the present embodiment, a pallet, a conveyor, and the like for transporting the workpiece are not necessary, and the common system is interposed between adjacent cells. The degree of freedom of the line layout itself is maintained at a high level in accordance with the material to be supplied and the arrangement of the material removal areas 52a and 52c. FIG. 10 to FIG. 12 show examples of other production lines that support the high density of the line layout as the production system and the high density.

  FIG. 10 shows an arrangement of a plurality of general-purpose cells 100 (in this example, nine general-purpose cells 100A to 100I) in accordance with the shape of the base unit 10 of these general-purpose cells 100, in particular, the planar regular hexagon in this embodiment. This is an example of line layout. This line layout shows an arrangement example staggered by each of the general-purpose cells 100A to 100E, and branches from the general-purpose cell 100A to the general-purpose cell 100E and the general-purpose cell 100G through the general-purpose cell 100D. The example of arrangement | sequence made into "Y character" shape is shown. That is, here, the general-purpose cell 100 indicates that the other general-purpose cell 100 can be adjacently arranged on the side of the planar regular hexagonal base unit 10 where the tray feeder 21 is not disposed. For example, the general-purpose cell 100A and the general-purpose cell 100B are disposed adjacent to each other via a material supply / removal area 52b, 52d, and the general-purpose cell 100B and the general-purpose cell 100C are disposed via a material supply / removal area 52c, 52a. Adjacent to each other. Further, the general-purpose cell 100C and the general-purpose cell 100D are disposed adjacent to each other via a material supply / removal area 52b, 52d, and the general-purpose cell 100D and the general-purpose cell 100E are disposed via a material supply / removal area 52c, 52a. Adjacent placement enables a staggered line layout. Further, the general-purpose cell 100E is arranged adjacent to the general-purpose cell 100F via the material supply / removal areas 52c and 52a to form a line extending from the general-purpose cell 100D in the direction of the general-purpose cell 100F. The cell 100G is arranged adjacent to each other via the material supply / removal areas 52e and 52e, thereby forming a “Y” -shaped branch point. The general-purpose cells 100G to 100I are branched from the general-purpose cell 100D by sequentially arranging the general-purpose cell 100G and the general-purpose cell 100H, and the general-purpose cell 100H and the general-purpose cell 100I through the material supply and material removal areas 52d and 52b, respectively. Configure the line. This enables a “Y” -shaped line layout that branches from the general-purpose cell 100A to the general-purpose cell 100D. In this case, the robot 60D of the general-purpose cell 100D plays a role of sending, for example, a work carried in from the general-purpose cell 100C in the direction of the general-purpose cell 100D to the general-purpose cell 100E or the general-purpose cell 100G in the line configuration. It will be. Even in these cases, the basic functions of each of the general-purpose cells 100A to 100I are the same as those of the general-purpose cell 100. Through such a cell arrangement, not only a staggered shape but also a “Y” -shaped branch or merge In addition, a line layout with a more complicated shape is also possible. The operation of each cell executed under the overall control by the central control unit as the production system is basically the same as the system illustrated in FIG. Omit.

FIG. 11 shows another example in which an array of a plurality of general-purpose cells 100 (eight general-purpose cells 100A to 100H in this example) is line-laid according to the regular hexagonal shape of the base unit 10 of the general-purpose cells 100. It is. In this line layout, an example of an array arranged in parallel by general-purpose cells 100B to 100D and 100F to 100H is shown, and an example of an array that is closed in a circular arc by general-purpose cells 100B to 100D and 100F to 100H is shown. Yes. As a parallel arrangement, for example, the general-purpose cell 100A and the general-purpose cell 100B are disposed adjacent to each other via a material supply / removal area 52c, 52a, and the general-purpose cell 100B and the general-purpose cell 100C are provided with a material supply / removal area 52c. , 52a, and the general-purpose cell 100C and the general-purpose cell 100D are arranged adjacent to each other via the material supply and material removal areas 52b and 52d. Further, the general-purpose cell 100D and the general-purpose cell 100E are arranged adjacent to each other via the material supply / removal areas 52b and 52d, so that one line having the general-purpose cell 100A as a branch point and the general-purpose cell 100E as a junction is provided. Constitute. Similarly, the general-purpose cell 100A and the general-purpose cell 100F are disposed adjacent to each other via a material supply / removal area 52b, 52b, and the general-purpose cell 100F and the general-purpose cell 100G are disposed via a material supply / removal area 52d, 52b. The general-purpose cell 100G and the general-purpose cell 100H are arranged adjacent to each other via the material supply / removal areas 52a and 52c. Then, the general-purpose cell 100H and the general-purpose cell 100I are arranged adjacent to each other via the material supply / removal areas 52a and 52a, so that the general-purpose cell 100A serves as a branch point and the general-purpose cell 100E serves as a junction. Configure the line. Thereby, it is possible to configure a parallel line layout with the general-purpose cell 100A as a branch point and the general-purpose cell 100E as a junction. On the other hand, in addition to the paralleled configuration described above, general purpose is provided through the material supply and material removal areas 52e and 52e provided between the general purpose cell 100B and the general purpose cell 100F and between the general purpose cell 100E and the general purpose cell 100H. A line layout composed of arc-shaped closed loops of the cells 100B to 100D and 100F to 100H is also configured. Even in these cases, the basic functions of each of the general-purpose cells 100A to 100H are the same as those of the general-purpose cell 100 described above. Such a more complicated line layout is also possible. The operation of each cell that is executed under the overall control by the central control unit as the production system is basically the same as the system illustrated in FIG. I will omit the explanation.

  FIG. 12 shows still another example in which an array of a plurality of general-purpose cells 100 (eight cells of the general-purpose cells 100A to 100H in this example) is line-laid according to the regular hexagonal shape of the base unit 10 of the general-purpose cells 100. An example is shown. This line layout shows an arrangement example in which cells are arranged at high density using a “honeycomb structure” that can be achieved only by a regular hexagon. For example, the general-purpose cell 100A and the general-purpose cell 100B are arranged to face each other, and the general-purpose cell 100C and the general-purpose cell 100D are arranged to face each other. Similarly, the general-purpose cell 100E and the general-purpose cell 100F are arranged beside the general-purpose cell 100C and the general-purpose cell 100D that are arranged so as to face each other. The general-purpose cell 100G and the general-purpose cell 100H are arranged beside the general-purpose cell 100F so as to face each other. And between each general purpose cell 100A-100H, a material supply and material removal area 52a-52e is provided as needed. If the general-purpose cells 100 are arranged in this manner, the general-purpose cells 100 can be arranged at a high density, and a line layout with a higher degree of freedom becomes possible. Particularly in this case, the general-purpose cell 100 itself is used as the component supply unit 20 by adopting a cell structure in the base unit 10 and supplying components directly on or around the stage 31 in the processing area 30. The planar shape can be a regular hexagon. In this case, a higher-density line layout configuration that fully utilizes the “honeycomb structure” is also possible. The operation of each cell executed under the overall control by the central control unit as the production system is basically the same as the system illustrated in FIG. The redundant explanation about the operation is omitted.

As described above, according to the general-purpose cell for production system and the production system using the general-purpose cell according to the present embodiment, the effects listed below can be obtained.
(1) One production system general-purpose cell 100 as a set of elements required for machining a workpiece as a production system cell, such as the base unit 10, the component supply unit 20, and the machining area 30. It was decided to compose. As a result, the degree of freedom of work assignment to each cell 100, that is, versatility is naturally increased, and various production functions required for the production system can be realized only by listing these cells 100. That is, the degree of freedom of the line layout when configuring the production system is maintained high. In addition, since the base unit 10 itself has a hexagonal planar shape, the degree of freedom in enclosing the cells in a form that shares the operation range of the robot 60 with each other is maintained higher, and the robot 60 Is supported with respect to the base unit 10 so as to be movable in a plane area formed of this hexagon. As a result, the area constituting the base unit 10 can be effectively used, and the general-purpose cell 100 is not unnecessarily enlarged.

  (2) In the general-purpose cell 100, the processing area 30 is provided inside the base unit 10, and the operation range of the robot 60 provided in the base unit 10 includes the processing area 30. By setting the range from the inner side to the outer side of 10, the use as such a processing area 30 is expanded. In addition, in the general-purpose cell 100, in particular, the dedicated processing machine 70 is installed on the stage 31 constituting the processing area 30, so that not only the automation but also the standardization of the cell is greatly promoted. Become. That is, in this case, the robot 60 basically transfers the workpiece to the processing area 30 (the workpiece holding area 71 of the processing machine 70), picks up a component supplied via the component supply unit 20, and removes the picked-up component. Only operations such as incorporation into the workpiece and delivery of the workpiece processed through the processing machine 70 may be performed.

  (3) In a mode in which the material supply and material removal areas 52 a to 52 e used for at least one of supplying the workpiece to the general-purpose cell 100 and removing the workpiece from the general-purpose cell 100 are within the operation range of the robot 60. Further extending outside the base unit 10. Thereby, the conveyance of the workpiece | work between cells can be performed now through the said material supply and material removal area 52a-52e put in the operation | movement range of the robot 60, and what is called a bucket brigade (bucket relay) system. It becomes easy to supply the work to the general-purpose cell 100 and to remove the work from the general-purpose cell 100.

  (4) A ceiling part 11r supported above the base unit 10 via the support pillar 11p is provided, and the robot 60 is structured to be supported by the base unit 10 in such a manner that the robot 60 is suspended from the ceiling part 11r. . As a result, the operation range of the robot 60 can also cover a wide range including the entire region below the robot 60, and more effective use of the region constituting the base unit 10 can be achieved.

  (5) In particular, the robot 60 includes first and second arms 62 and 64 having the same length that can pass through overlapping positions with circular motion areas. Then, with the posture in which these arms overlap each other as the origin posture, the first and second arms 62 and 64 are configured to be capable of turning (turning) 225 ° clockwise and counterclockwise. The robot was adopted. As a result, the movement range of the robot 60 as a whole can be covered over the entire area inside the circle based on the circle by the cooperation of the first and second arms 62 and 64. . That is, at least the blind spot in the base unit 10 is surely eliminated in the operation range of the robot 60 set from the inside to the outside of the base unit 10.

(6) On the other hand, the processing area 30 is provided as a processing stage 31 on the base unit 10, and the component supply unit 20 is a tray that conveys a component tray Tr on which workpiece components are placed below the processing stage 31. The feeder 21 was configured. Therefore, the components that are placed and supplied from the component supply unit 20 onto the component tray Tr can be sequentially conveyed to the vicinity of the processing area 30 by the tray feeder 21. Thereby, the pick-up operation of the corresponding part by the robot 60 and the transfer operation of the picked-up part to the processing area 30 by the robot 60 are smoothly performed, and the processing area provided as the processing stage 31 on the base unit 10. Effective use of the entire 30 is also planned.

  (7) As a basic structure of the general-purpose cell 100, the planar shape of the base unit 10 including the processing area 30 is a regular hexagon. As described above, the planar shape of the base unit 10 including the processing area 30 is a regular hexagon, so that even when a plurality of the general-purpose cells 100 are used, the arrangement can be determined with a high degree of freedom. As a result, line layout design as a production system becomes easier. That is, a line layout or the like in a mode in which it is arbitrarily bent in the middle of the line is also possible.

  (8) Furthermore, as a basic structure of the general-purpose cell 100, the planar shape of the cell itself including the component supply unit 20 and the processing area 30 provided in the base unit 10 can be a regular hexagon. Thus, by making the planar shape of the base unit 10 and further the general-purpose cell 100 itself a regular hexagon, a higher degree of freedom and a higher density cell arrangement are possible. In particular, when the plane shape of the general-purpose cell 100 itself is a regular hexagon, the most efficient and most flexible line layout is possible by further developing the “honeycomb structure” illustrated in FIG. It also becomes.

  (9) Even in a production system using general-purpose cells, a plurality of the general-purpose cells 100 are arranged in a manner in which a part of the operation range of the robot 60 is shared between adjacent cells. The degree of freedom of the line layout itself is kept high as well as the need for pallets, conveyors, and the like for conveying workpieces. For this reason, for example, the cells are arranged linearly as illustrated in FIG. 8 according to the planar shape, or the workpiece is sent out in two directions as illustrated in FIGS. A line that accepts workpieces can be configured. In addition, a “Y” -shaped line that branches or merges in the middle, and a line that is a combination of these branches and merges can be configured. Furthermore, an extremely free line layout corresponding to the space in which the production system is installed, such as an arc (including a closed loop) or staggered line configuration, can be realized at low cost.

(Second Embodiment)
FIG. 13 shows a perspective structure of a general-purpose cell for production system according to the second embodiment of the present invention. In the second embodiment, the support form of the robot with respect to the base unit is changed from the above-described ceiling-suspended form to a form protruding from a so-called side wall. A specific configuration as the general-purpose cell will be described with a focus on differences from the embodiment.

As shown in FIG. 13, the general-purpose cell 200 according to the present embodiment also has a component supply unit that is connected to the base unit 10 a that supports the robot 90 in the three-dimensional coordinates indicated in the drawing in the X-axis direction. 20a and a processing area 30a inside the base unit 10a. In this embodiment, the base unit 10a, the component supply unit 20a, and the processing area 30a constituting the general-purpose cell 200 are all made of a rigid metal and are appropriately connected to each other. Through the casters 41 and foot jacks 42 provided on the lower surface 40, movement and installation in units of cells are possible. Also in this embodiment, the planar shape of the base unit 10a is a regular hexagon, which facilitates line layout design when a production system is configured using a plurality of such general-purpose cells 200. Further, in this general-purpose cell 200, a cabinet 43 is provided below the base unit 10a, and in this cabinet 43, control for overall control of each part including the robot 90 of the general-purpose cell 200 is performed. It is the same as the general-purpose cell 100 of the first embodiment that the device is accommodated.

Here, first, the specific configuration of the base unit 10a will be described.
As shown in FIG. 13, the base unit 10a is provided with a side wall 11 standing upright with respect to the base unit 10a on the boundary side with the component supply unit 20a. The SCARA robot 90 is supported in such a manner as to protrude from the side wall 11 toward the processing area 30a. In other words, the robot 90 is supported on the base unit 10a, more precisely, on the side wall 11, so as to be movable in the X, Y, and Z directions of the three-dimensional coordinates on the area 12 made of a planar hexagon on the upper surface of the base unit 10a. Has been. And even in the present embodiment, in a mode in which the material supply and removal materials 52a to 52d serving as the supply unit and the removal unit for the cell 200 of the workpiece (workpiece) are within the operation range of the robot 90, The side plates 13a to 13d provided on both sides of the region 12 extend from the side of the base unit 10a. FIG. 14 shows a side structure of such a robot 90. Hereinafter, the configuration and functions of the robot 90 will be described in more detail with reference to FIG.

  As shown in FIG. 14, the robot 90 is supported by a base 91 extending from the side wall 11 in the X direction in the figure, and via first and second shafts 92 and 94, respectively. The first and second arms 93 and 95 are configured to be individually rotatable in the horizontal direction (XY direction in the figure). Among these, a third shaft 96 extending in the same direction as the first and second shafts 92 and 94 (Z direction in the drawing) is further provided at the tip of the second arm 95. A portion of the third shaft 96 located below the second arm 95 is provided with a head unit 97 that can rotate independently of the rotation of the second arm 95 in the horizontal direction. Yes. The head unit 97 has a tool attachment 98 at the tip thereof, and a position (shortest position) stored in the third shaft 96 in a state where an arbitrary tool is attached to the tool attachment 98. ) To a position (longest position) extended by a distance L1 indicated by a broken line in FIG. The first shaft 92 is connected to the coaxial 92 at the base end by rotating left and right about the center line C1 through the first motor M1 provided in the base 91. The rotation angle of the first arm 93, that is, the rotation angle of the first arm 93 is monitored through a first encoder Em1 that is also provided in the base 91. The second shaft 94 is a shaft for rotating the second arm 95. That is, the second shaft 94 is also connected to the tip of the first arm 93, and rotates coaxially 94 right and left around the center line C2 through the second motor M2 provided in the second arm 95. If it tries to make it, the reaction force will act on 2nd arm 95 itself, and the 2nd arm will come to rotate. The rotation angle, that is, the rotation angle of the second arm 95 is also monitored through the second encoder Em2 provided in the second arm 95. The head unit 97 that rotates and expands and contracts within the third shaft 96 rotates left and right around the center line C3 through a third motor M3 provided in the second arm 95, and its rotation angle. Is monitored through a third encoder Em3 also provided in the second arm 95. On the other hand, the expansion / contraction of the head unit 97 is controlled by the elevating motor M4 provided in the second arm 95, and the controlled expansion / contraction degree is also provided in the second arm 95. It is monitored through the lifting encoder Em4. The signal lines of the motor and encoder control signals or monitor signals provided in the second arm 95 are collected in the base 91 via a flexible wiring tube 93t, and the first motor M1 and Together with the signal line of the first encoder Em1, it is connected to each corresponding terminal of the control device accommodated in the cabinet 43.

  FIG. 15 shows the planar structure of the general-purpose cell 200 including the component tray Tr that is not shown in FIG. 13 for the sake of convenience. In this general-purpose cell 200, the above-mentioned base of the robot 90 includes the range indicated by the region Ra (two-dot chain line) in FIG. 15, that is, the table-shaped processing area 30a provided in the base unit 10a. The range is set from the inside to the outside of the unit 10a. Thereby, not only picking up components from the component tray Tr supplied through the component supply unit 20a but also conveying (moving) of workpieces between the above-mentioned supply material, the material removal areas 52a to 52d and the processing area 30a, etc. is highly versatile. It will be easily realized.

  Further, as shown in FIG. 15, the pair of rails 22a and 22b has a planar shape formed in a "U" shape so as to maintain high rigidity, that is, through the opening 11a of the side wall 11, that is, The side wall 11 is laid so as to reach the tip of the processing area 30a having a table shape through the base unit 10a. The component tray Tr is automatically conveyed through the tray feeder 21 to a desired position as needed. As described above, the component tray Tr can be transported to a position lower than the processing area 30a having the table shape, so that the pick-up operation of the component by the robot 90 and the processing area 30a by the robot 90 of the picked-up component can be performed. Thus, the transfer operation and the like can be performed smoothly. This also makes it possible to always effectively use the entire processing area 30a having a table shape, and to set the transport position of the component tray Tr (feed position at the tray feeder 21) in order to compensate for the limited operating range of the robot 90. Sequential adjustments can also be made.

  In addition, in the general-purpose cell according to the present embodiment, each item described with reference to FIGS. 4 to 7, that is, the basic configuration as the tray feeder 21 and the relationship with the stage (processing stage) 31, The electrical configuration, the cell operation based on the cooperation with the processing machine 70, and the like are basically the same as those in the first embodiment.

  In addition, the construction of a production system using a plurality of general-purpose cells exemplified in FIGS. 8 to 11 and the modifications thereof are basically the same as or similar to those of the first embodiment. And can be easily realized.

  As described above, the production system general-purpose cell according to the present embodiment and the production system using the general-purpose cell also provide the above-described (1) to (3) and (7) to (1) of the first embodiment. An effect equivalent to or equivalent to the effect of (9) can be obtained, and the following effect can be obtained as an alternative to the effects of (4) to (6).

  (10) The base unit 10a is provided with a side wall 11 that stands upright with respect to the base unit 10a, and the robot 90 projects from the side wall 11 onto a region 12 made of a planar hexagon of the base unit 10a. The structure is supported by the base unit 10a. By ensuring that the robot 90 is supported in a manner protruding from the side wall 11 thus provided in the base unit 10a, a necessary area as the base unit 10a is secured, and in particular, the robot on the processing area 30a side. It is easy to secure the operating range.

(11) The processing area 30a is provided as a processing stage on the base unit 10a, and the component supply unit 20a moves the component tray Tr on which the workpiece component is placed from the back side of the side wall 11 below the processing stage 31. Then, it was set as the structure which has the tray feeder 21 which comprises the component supply unit conveyed to the other side of the base unit 10a. Then, the components that are mounted and supplied from the component supply unit 20a to the component tray Tr are transferred to the base via a tray feeder 21 that constitutes the component supply unit, below the processing area provided as a processing stage on the base unit 10a. It is transported to the end of the unit 10a, that is, in the vicinity of the processing area. That is, after the parts are transported by the tray feeder 21, the parts tray Tr on which the parts are placed comes to a position lower than the processing area provided as the processing stage 31. As a result, even with the robot 90 provided in such a manner as to protrude from the side wall on the base unit 10a, the robot 90 can smoothly pick up the corresponding part, and the robot can transfer the picked-up part to the processing area. become. Furthermore, the entire processing area provided as the processing stage 31 on the base unit 10a can be used effectively.

(Other embodiments)
In addition, each said embodiment can also be implemented in the following aspects, for example.
In particular, in the first embodiment, the angles at which the first and second arms 62 and 64 constituting the robot 60 can be turned (turned) from their respective home positions are clockwise and counterclockwise, that is, “ Each was set to “225 °” in the “±” direction. However, these turning (turning) possible angles are set to “± 180 °” or more, so that the dead angle can be surely eliminated for all the areas inside the circle illustrated in FIGS. 4 and 5 to cover this. Can do. Further, the angle at which the first and second arms 62 and 64 can be turned (turned) is not limited to “± 180 °” or more, and is less than “± 180 °” if a necessary operation range can be secured. May be set.

  -On the other hand, in the said 2nd Embodiment, although the side wall 11 which supports the robot 90 was provided in the aspect standing upright from the base end side of the component supply unit 20a with respect to the base unit 10a, as the base unit 10a, If space is expected, the side wall 11 may be provided in an upright manner from the middle of the base unit 10a. In short, in consideration of the operation range of the robot 90, the operation range of at least a part of the processing area 30 a and the parts arranged on the stage 31 side of the component tray Tr conveyed to the front of the stage 31 by the tray feeder 21. Any structure may be used as long as the side wall 11 is provided so as to reach the position. Thus, when the line length of the tray feeder 21 constituting the component supply unit 20a is shortened, it is possible to reduce the size of the general-purpose cell 200 itself.

  In the second embodiment as well, the component supply unit can be a cell structure of a type that is in the base unit 10a and directly supplies components on or around the stage 31 in the processing area 30a. This also satisfies the relationship “planar shape of the base unit = planar shape of the cell itself”, and a higher-density line layout can be realized.

  In the first embodiment, the stage 31 of the processing area 30 is provided so as to cover most of the region 12 on the base unit 10, but the stage 31 may be provided so as to cover a part of the region 12. Then, the region 12 on the base unit 10 can be used for other purposes.

  On the other hand, in the second embodiment, the parts are supplied from the tip of the stage 31 of the processing area 30a. However, the processing area 30a is provided on the base unit 10a in the direction opposite to the side wall 11 to provide the side wall 11 and the processing area 30a. Parts may be supplied from between.

In each of the above embodiments, the material supply / removal areas 52a to 52e are used for supplying and removing the workpiece, but the use of the material supply / removal areas 52a to 52e is arbitrary, for example, a component supply unit It can also be used as an area for separately supplying parts different from the parts supplied by 20 and 20a. Specifically, in FIG. 7, different parts placed at predetermined positions such as the material supply and material removal areas 52 c and 52 d are picked up by the robot 60 and are set in the work holding area 71. It can also be incorporated into W.

  In the above embodiment, when the production system is constructed, the adjacent cell 100 includes the material removal and supply areas 52a to 52e adjacent to the position where the operation ranges of the robots 60 and 90 of the adjacent general-purpose cells 100 and 200 overlap. , 200 works can be exchanged. However, the apparatus further includes an automatic workpiece (work) transport unit that automatically transports the workpieces within the operation range of the robot 60 between cells that do not reach the operation range of the robots 60 and 90. May be. As a result, in addition to the line layout in the above-described mode, a wider variety of line layouts such as paralleling part or all of the lines through the automatic workpiece transfer unit is possible. It is easy to adjust the line speed and the conveyance timing accordingly.

  In each of the above-described embodiments, the component supply units 20 and 20a are configured to have a planar rectangular shape having the same width as the base units 10 and 10a. For example, the component supply units 20 and 20a are narrower than the base units 10 and 10a, A shape may be used. Since the planar shape of the component supply units 20 and 20a is not limited to a quadrangle having the same width as the base units 10 and 10a, a component supply unit suitable for supplying components can be adopted, and the degree of freedom of the configuration of the general-purpose cells 100 and 200 can be increased. Can be increased.

  In each of the above embodiments, the tray feeder 21 constituting the component supply units 20 and 20a includes a mechanism for automatically conveying a target tray or the like with a ball screw and a claw engaged with the ball screw. Although adopted, the transport mechanism is not limited to this and is arbitrary. As such a unit, for example, a mechanism for electromagnetically guiding and moving the object to be transported can be appropriately employed. The same applies to the workpiece (workpiece) automatic transfer unit.

  In each of the above embodiments, the tray feeder 21 constituting the component supply units 20 and 20a drives the two rails 22a and 22b by the first and second shuttle motors MSa and MSb. The rails 22a and 22b may be driven. Moreover, the tray feeder 21 may be comprised from one rail.

  In each of the above embodiments, the tray feeder 21 constituting the component supply units 20 and 20a is configured to transport the component tray Tr by moving the two rails 22a and 22b together. However, the present invention is not limited to this. If the rails 22a and 22b are individually driven and the component trays having sizes that do not interfere with each other are alternately conveyed by the rails 22a and 22b, the components are supplied to the cells 100 and 200. Can be done without delay.

  In each of the above-described embodiments, when a production system using a plurality of general-purpose cells is constructed, the electrical connection is made via a communication line as illustrated in FIG. 9, but the communication form is wired or wireless. Not limited to this. Further, without providing the central control unit 120, an equivalent communication network can be formed by using any one of the general-purpose cells 100 and 200 as a master cell.

  In each of the above embodiments, a dedicated processing machine 70 is installed for the processing areas 30 and 30a, and the workpiece (workpiece) is processed through the processing machine 70. Applications of the robots 60 and 90 including the processing areas 30 and 30a are arbitrary. For example, these processing areas and robots can be used in the following manner.

(A) The robot itself performs all operations including machining of workpieces by providing only a mechanism or the like for holding the conveyed workpiece in the machining area. That is, in this case, the robot
a. Conveyance of the workpiece to the machining area; and b. Pick-up of components supplied via a component supply unit; and c. Incorporating the picked-up part into the workpiece; and d. Machining the workpiece incorporating this part in the machining area, and e. Sending out workpieces processed in this processing area,
Each operation will be performed. Incidentally, in this case, when configuring the production system with the above-described cell arrangement, it is necessary to set (program) the processing contents to be performed by the robot for each cell, but even the setting contents are stored in advance in the database 122 (FIG. 9), etc. If it is registered in the storage device, for example, even when the line configuration is changed, the setting contents can be updated for each cell. That is, the versatility required in this case is maintained.

(B) An automatic tool changer in which the robot automatically changes its own hand (tool) is installed in the machining area, and the robot itself performs all operations including automatic change of the tool and machining of the workpiece. That is, in this case, the robot
a. Pick-up of components supplied via a component supply unit; and b. Incorporating the picked-up part into the workpiece, and c. Machining a workpiece incorporating this part; and d. Delivery of the machined workpiece; and e. These a. ~ D. Automatic replacement of robot hands as needed for the operation of
Each operation will be performed. Especially in this case, the above e. Since the robot hand (tool) is automatically changed as necessary through an auto tool changer installed in the processing area as the operation, it is possible to deal with more kinds of work. However, even in this case, when the production system is configured with the above-described cell arrangement, it is necessary to set (program) the processing contents to be performed by the robot for each cell. By registering in a storage device such as FIG. 9), the required versatility as the cell is suitably maintained. In other words, even when the line configuration is changed, the setting contents can be updated for each cell.

  In each of the above embodiments, a SCARA type robot is adopted as each of the robots 60 and 90. However, in particular, when the use is made as in the above (A) and (B), the type is also arbitrary. is there. In addition, for example, a type of robot having a function such as “human hand” can be appropriately employed.

  In each of the above embodiments, the example in which the processing areas 30 and 30a are integrally connected to the base units 10 and 10a has been shown. However, the processing areas 30 and 30a constituting the general-purpose cells 100 and 200 are not limited to this. Can also be configured to be installed inside the base unit 10, 10a as a separate structure that can be exchanged, for example. In other words, as a general-purpose cell for a production system, a base unit, a component supply unit, and a machining area, that is, a cell for a production system, that is, a set of elements required for machining a workpiece (workpiece) at a minimum What is necessary is just to comprise one general purpose cell. In this sense, the arrangement of the material supply and material removal areas 52a to 52e is not essential for the same general-purpose cell. The arrangement of the material and material removal areas 52a to 52e can be omitted. In each of the above embodiments, the example in which the planar shape of the base unit 10, 10a or the cell itself is a regular hexagon is shown, but the planar shape is not limited to such a shape, and a regular octagon, etc. Any polygon may be used as long as it is a pentagon or more polygon.

The perspective view which shows the whole perspective structure about 1st Embodiment of the general purpose cell for production systems concerning this invention. (A), (d) is a bottom view which shows the bottom face structure of the robot employ | adopted as the general purpose cell of the embodiment, (b), (c) is a side view which similarly shows the side structure of a robot. (A)-(c) is the bottom view which showed typically an example of the operation | movement aspect of the robot employ | adopted as the general purpose cell of the 1st Embodiment, and the operation | movement range from the downward direction, respectively. The top view which shows the whole planar structure about the general purpose cell of the embodiment. The top view which shows the planar structure centering on the component supply unit employ | adopted as the general purpose cell of the embodiment. The block diagram which shows the electrical structural example of the general purpose cell of the embodiment. (A)-(d) is a top view which shows the operation example of the general purpose cell of the embodiment. The top view which shows an example of the line structure as a production system using multiple general purpose cells of the embodiment. The block diagram which shows the electrical structural example as the production system. The top view which shows the other example of the line structure as a production system using multiple general purpose cells of the embodiment. The top view which shows the further another example of the line structure as a production system using multiple general purpose cells of the embodiment. The top view which shows the further another example of the line structure as a production system using multiple general purpose cells of the embodiment. The perspective view which shows the whole perspective structure about 2nd Embodiment of the general purpose cell for production systems concerning this invention. The side view which shows the side structure of the robot employ | adopted for the general purpose cell of the said 2nd Embodiment. The top view which shows the planar structure centering on the component supply unit employ | adopted as the general purpose cell of the said 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10,10a ... Base unit, 11 ... Side wall, 11p ... Column, 11r ... Ceiling part, 12 ... Area | region which consists of planar shape hexagon on base unit, 13a, 13b, 13c, 13d ... Side plate, 20, 20a ... Parts supply Unit, 21 ... Tray feeder, 22a, 22b ... Rail, 23a, 23b, 24a, 24b ... Claw, 30, 30a ... Processing area, 31 ... Stage (processing stage), 40 ... Lower surface, 41 ... Caster, 42 ... Foot jack , 43 ... Cabinet, 52a, 52b, 52c, 52d, 52e ... Feeding, material removal area, 60, 90 ... Robot, 91 ... Base, 61, 92 ... First shaft, 62, 93 ... First arm , 63, 94 ... second axis, 64, 95 ... second arm, 65, 96 ... third axis, 66, 97 ... head unit, 67, 98 ... tool attachment , 70 ... Processing machine, 71 ... Work holding area, 81 ... Work carry-in device, 82 ... Work carry-out device, 100, 100A to 100I, 200 ... General-purpose cell, 101 ... First motor driver, 102 ... Second motor driver, 103 3rd motor driver, 104 ... Lift motor driver, 105 ... 1st shuttle motor driver, 106 ... 2nd shuttle motor driver, 107 ... Valve driver, 108 ... External input / output IF (interface), 110 ... Control unit, 111 ... CPU, 112 ... ROM, 113 ... RAM, 114 ... communication IF (interface), 120 ... central control unit, 121 ... host computer, 122 ... database, 123 ... input / output device, 124 ... communication IF (interface), M1 ... 1 motor, M2 ... second motor, M3 ... third motor M4 ... Lifting motor, MSa ... First shuttle motor, MSb ... Second shuttle motor, BL1 ... Switching valve, U1 ... Sensor, Em1 ... First encoder, Em2 ... Second encoder, Em3 ... Third encoder, Em4 ... Lifting encoder , ESa: first shuttle encoder, ESb: second shuttle encoder.

Claims (16)

It is a production system for processing a received workpiece and sending it out, and is a general-purpose cell for a production system that is generally used for processing and conveying the workpiece,
A base unit having a polygonal shape that is a pentagon or more in a planar shape, and at least a robot used for transporting the workpiece is supported so as to be movable on a planar region formed by the polygon, and is supported by the base unit. A part supply unit for supplying parts of the workpiece to the robot, and a processing area provided inside the base unit,
A general-purpose cell for a production system, wherein an operation range of a robot supported by the base unit is set in a range from the inside to the outside of the base unit including the machining area. The feed material used for at least one of the supply of the workpiece to the cell and the removal of the workpiece from the cell, the material removal area outside the base unit in a manner that fits within the operating range of the robot. The general-purpose cell for a production system according to claim 1, further extended. The ceiling part supported via the support | pillar is provided above the said base unit, The said robot is supported by the said base unit in the aspect suspended from this ceiling part. General-purpose cell for production systems. The robot has first and second arms each having a circular or arcuate motion area, and the second arm can pass through a position overlapping the first arm. The general-purpose cell for a production system according to claim 3. The processing area is provided as a processing stage on the base unit, and the component supply unit has a tray feeder for transporting a component tray on which a component of the workpiece is placed below the processing stage. The general-purpose cell for a production system according to claim 3 or 4. The processing area is provided as a processing stage on the base unit, and the component supply unit supplies the components of the workpiece to the periphery of the processing stage in the base unit. Item 5. A general-purpose cell for a production system according to item 3 or 4. 3. The base unit is provided with a side wall standing upright from the base unit so as to be separated from the processing area, and the robot is supported by the base unit in a manner of projecting from the side wall. General-purpose cell for the production system described. The processing area is provided as a processing stage on the base unit, and the component supply unit is located near the processing area from the back side of the side wall by a component tray on which the component of the workpiece is placed. The general-purpose cell for a production system according to claim 7, which supplies parts. The processing area is provided as a processing stage on the base unit, and the component supply unit supplies the components of the workpiece to the periphery of the processing stage in the base unit. Item 8. A general-purpose cell for a production system according to Item 7. The general-purpose cell for a production system according to claim 6 or 9, wherein a planar shape of the cell itself including the component supply unit and the processing area provided in the base unit is a polygon that is a pentagon or more. The general-purpose cell for a production system according to any one of claims 1 to 10, wherein a planar shape formed of a polygon of pentagon or more is a regular hexagon. A dedicated processing machine for processing the workpiece is installed in the processing area, and the robot
a. Conveying the workpiece to the processing area; and b. Pick-up of components supplied via the component supply unit; and c. Incorporating the picked-up part into the workpiece; and d. Sending out the workpiece processed through the processing machine,
The general-purpose cell for a production system according to any one of claims 1 to 11. The robot is
a. Conveying the workpiece to the processing area; and b. Pick-up of components supplied via the component supply unit; and c. Incorporating the picked-up part into the workpiece; and d. Machining in the machining area of a workpiece incorporating the part; and e. Sending out workpieces processed in this processing area,
The general-purpose cell for a production system according to any one of claims 1 to 11. In the processing area, an automatic tool changer is installed in which the robot automatically changes its hand.
a. Pick-up of components supplied via the component supply unit; and b. Incorporating the picked-up part into the workpiece; and c. Machining a workpiece incorporating the part; and d. Delivering the processed workpiece; and e. The a. ~ D. Automatic replacement of robot hands as needed for the operation of
The general-purpose cell for a production system according to any one of claims 1 to 11. A plurality of general-purpose cells for a production system according to any one of claims 1 to 14, wherein cells adjacent to each other are arranged so as to share a part of the operation range of the robot. Production system using general-purpose cells. The apparatus further includes an automatic workpiece conveyance unit that automatically conveys the workpiece between cells that do not reach the robot movement range so that the workpiece can be exchanged within the robot movement range. Production system using the general-purpose cell described.

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