JP2008229738A - Production system and general-purpose cell for the production system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a production system capable of easily and efficiently supporting a change in line configuration while keeping high degrees of freedom in line layout of cells, and a general-purpose cell used in the production system. <P>SOLUTION: The production system structures a production line by re-arranging a plurality of cells S usable multi-purposely for machining and conveyance of a workpiece to be machined according to each production plan. Especially, the system includes a robot having an operating region outside the cell S as each cell S, and is equipped with a traveling carrier autonomously traveling while steered through a controller on a bottom of the cell. Thus, the production line according to the production plan is automatically structured through an individual delivery command transmitted by a communication device to the traveling carrier of each cell S. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a production system that performs line layout using a general-purpose cell for a production system, and a general-purpose cell for a production system that is used in the production system.

  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 flexibility and ease of line layout as well as versatility, 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, the production capacity and production capacity as a line are limited by the transport capability of the conveyor itself, and even if it is cellized as a plurality of assembly cells. However, the time required for the rearrangement cannot be ignored.

  In addition, in the system described in Patent Document 2, the conveyor and the like are not necessary, but the line layout as a production system has a structure in which a plurality of cells are adjacent to each other via a workbench, For example, a robot having a different function is installed on the base that constitutes the cell, which leaves problems in the versatility of the cell itself. For this reason, it is difficult to rearrange the cells when the line configuration is changed.

  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 the object thereof is to easily and efficiently cope with a change in line configuration while maintaining a high degree of freedom of line layout by cells. An object of the present invention is to provide a production system and a general-purpose cell for production system used in the production system.

  In the production system of the present invention, as the production system that constitutes a production line by rearranging a plurality of cells that can be generally used for processing and transporting a workpiece according to the respective production plan, And a robot having an operation area outside the cell, and a traveling carriage that is autonomously traveling while being steered through a control device is provided on the bottom surface of the cell, and a separate delivery command for the traveling carriage of each cell by the communication device The production line corresponding to the production plan is automatically configured through the transmission of.

According to such a configuration as a production system, arrangement information to be taken by each cell in configuring a production line according to the production plan for each time is registered in advance through, for example, an external computer, and this registration is performed. By transmitting the arrangement information output based on the execution of the programmed program via the communication device as a delivery command for the traveling carriages of each cell, each cell itself can take a position to be taken by autonomous traveling of the traveling carriage. The desired production line is automatically configured. For this reason, it becomes possible to cope with a change in the line configuration as a production system easily and with high efficiency. In order to avoid collisions and obstacles between cells when moving each cell,
(A) A camera is mounted in each cell, and each cell itself is steered and controlled to avoid a collision or an obstacle based on the imaging information.
(B) Cell-specific route information is also transmitted as the delivery command.
Etc. are also effective. The configuration of the communication device may be any of a wired type and a wireless type, but in view of autonomous traveling by the traveling carriage, a wireless type is more preferable in practice.

  Further, in this production system, each of the cells is given a unique identifier in the production system, and each delivery command to the traveling carriage of each cell by the communication device is distinguished by this identifier. Shall be sent.

By adopting such a communication method, transmission of the delivery command to each cell is facilitated, and the communication function of the entire system is properly maintained.
In the production system, a production line according to the production plan is automatically configured in such a manner that a part of the operation area of the robot is shared between cells delivered to positions adjacent to each other. And

  When a production line is automatically configured, at least part of the work area of the robot is shared between cells delivered to positions adjacent to each other in this way, so that at least the work piece is conveyed, etc. As for, it becomes possible to immediately function as a production line.

  On the other hand, in this production system, each of the cells is formed of a polygon having a square shape 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 of the polygon. A base unit and a machining area provided on the inside of the base unit, and the range of movement of the robot supported by the base unit is extended from the inside to the outside of the base unit including the machining area. It will be set.

  Each cell that constitutes the production system is configured as a set of elements that are at least necessary for transporting and processing a workpiece as a cell for the production system, such as a base unit and a processing area. Thus, 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 enumerating the cells. That is, the degree of freedom of the line layout when configuring the production system is maintained high. In addition, a component supply unit used to supply workpieces as a set is incorporated in such a cell, so that all functions in units of cells are completed. Normally, the workpiece is changed according to the production plan each time, and the necessary parts are usually changed each time. On the contrary, the freedom of line layout can be lost. Moreover, this is especially true for production lines that are automatically configured in this way. In this regard, according to the above cell structure, such a component supply unit or the like is intentionally not incorporated, so that the degree of freedom of line layout as an automatically configured production line is naturally maintained high.

  Further, in this production system, in each cell, 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 to be suspended from the ceiling portion. To be.

  In this way, in the base unit, the robot is supported in such a manner that it is suspended from the top of the ceiling, so that the operation range of the robot also covers a wide range including the entire area below it. This makes it possible to further effectively use the region that constitutes the base unit, including the processing area.

  In this case, the robot has first and second arms each having a circular or arcuate motion area, and the second arm passes through a position overlapping the first arm. It is particularly effective to use a SCARA robot that can handle this.

According to such a cell as the production system, the robot is provided with first and second arms that can pass through mutually 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 circle 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.

Further, in this production system, it is also effective to configure each of the cells including the base unit so that its planar shape is a polygon having a quadrangle or more.
According to such a configuration, since the planar shape of the cell itself is a polygon similar to that of the base unit, the line layout design as a production system can be facilitated. In this case, since the relationship “planar shape of the base unit = planar shape of the cell itself” is established, miniaturization of the planar physique of the cell itself is promoted, and production The degree of freedom of line layout in forming lines can be further improved.

In this production system, it is particularly effective in terms of line layout that each cell has a regular hexagonal planar shape composed of polygons equal to or larger than the rectangle.
As in this production system, the base unit of each cell or the planar shape of the 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 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, the general-purpose cell for a production system of the present invention includes a robot having an operation area extending to the outside of the cell as a general-purpose cell used in the production system, and autonomously travels while being steered through a control device on the cell bottom surface. A traveling carriage is provided that autonomously travels to a delivery position commanded based on a delivery command for the travel carriage by a communication device.

  According to such a configuration as a general-purpose cell for a production system, arrangement information to be taken by the cell itself in configuring a production line corresponding to each production plan is registered in advance through, for example, an external computer. By transmitting the arrangement information output based on the execution of the registered program as a delivery command to the traveling vehicle via the communication device, the traveling vehicle can move to a position that the cell itself should take by autonomous traveling. It becomes possible. For this reason, it becomes possible to cope with a change in the line configuration as a production system easily and with high efficiency. In order to avoid collisions and obstacles between cells during such cell movement, a camera is mounted on the cells themselves, and the cells themselves are steered to avoid collisions and obstacles based on the imaging information. It is good also as a structure.

  And in this general-purpose cell for production system, the robot has a structure in which the planar shape is supported so as to be movable on the polygonal plane area with respect to the polygonal base unit whose planar shape is a square or more. A machining area is provided inside the base unit, and the operation range of the robot supported by the base unit is set to a range from the inside to the outside of the base unit including this machining area.

  The general-purpose cell used in the above production system is configured as a set of elements required for the conveyance and processing of the workpiece as a cell for the production system, such as the base unit and the processing area. Thus, the degree of freedom of work allocation 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.

  Further, in the 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. I try to do it.

  In this way, in the base unit, the robot is supported in such a manner that it is suspended from the top of the ceiling, so that the operation range of the robot also covers a wide range including the entire area below it. This makes it possible to further effectively use the region that constitutes the base unit, including the processing area.

  In this case, the robot has first and second arms each having a circular or arcuate motion area, and the second arm passes through a position overlapping the first arm. It is particularly effective to use a SCARA robot that can handle this.

  According to the general-purpose cell for production system, the robot includes the first and second arms that can pass through the 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 circle 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 addition, in this general-purpose cell for production system, it is effective that the planar shape including the base unit is composed of a polygon having a quadrangle or more.
According to such a configuration, since the planar shape of the cell itself is a polygon similar to that of the base unit, the line layout design as a production system can be facilitated. In this case, since the relationship “planar shape of the base unit = planar shape of the cell itself” is established, miniaturization of the planar physique of the cell itself is promoted, and production The degree of freedom of line layout in forming lines can be further improved.

In this production system general-purpose cell, it is particularly effective in terms of line layout that the planar shape formed of the polygons equal to or larger than the square is a regular hexagon.
As in the general-purpose cell for production system, the planar shape of the base unit or the 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 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.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment embodying a production system and a general-purpose cell for production system according to the invention will be described with reference to the drawings.
FIG. 1 shows an overall perspective structure of a production system according to this embodiment and a general-purpose cell for production system used therefor.

  As shown in FIG. 1, in this production system, a plurality of general-purpose cells S constituting the production line are placed on the floor surface FL prepared for the construction of the production line under different delivery instructions. They are automatically arranged adjacent to each other to form a production line according to each production plan. In the standby space WS, a standby general-purpose cell S that is not used for constructing a production line in the production plan waits. Then, the production line configured as described above supplies, for example, a workpiece that is a workpiece to the leftmost general-purpose cell among the general-purpose cells S, so that the supplied workpiece is removed from the rightmost general-purpose cell. It is discharged sequentially as finished products or semi-finished products. In other words, the general-purpose cell S that has received the workpiece performs predetermined processing on the workpiece, and then delivers the workpiece to the next general-purpose cell S, and the supplied workpiece is completed or semi-finished. Assemble and process sequentially.

Here, first, a specific configuration of the general-purpose cell S will be described.
FIG. 2 shows a perspective structure of the general-purpose cell S, and FIGS. 3A to 3D show an upper surface, a front surface, a left side surface, and a rear surface structure of the general-purpose cell S, respectively.

  First, as shown in FIG. 2, the general-purpose cell S includes a processing area 30 on the upper surface of the base unit 10 and a traveling carriage 40 below the base unit 10 with respect to the base unit 10 that supports the robot 60. It has become.

  As shown in FIG. 3, at the lower part of the traveling carriage 40, a left drive wheel 41a is provided at the front part on the left side, a right drive wheel 41b is provided at the front part on the right side, and a dependent wheel 42 is provided at the center part on the rear side. ing. That is, the weight of the general-purpose cell S is supported by the wheels 41a, 41b, and 42 of the traveling carriage 40, and the general-purpose cell S is moved in any direction on the floor surface FL through the wheels 41a, 41b, and It is possible to stop at the position. Specifically, the left drive wheel 41a supports the general-purpose cell S and rotates independently with respect to the traveling carriage 40. The left driving wheel 41a rotates forward and backward through the left wheel motor M5, that is, the traveling carriage 40, that is, the general-purpose carriage 40a. The cell S can be moved and steered. The amount of rotation of the left wheel motor M5, that is, the amount of rotation of the left drive wheel 41a is monitored through the left wheel encoder Em5 provided in the traveling carriage 40. The right drive wheel 41b also supports the general-purpose cell S and rotates independently of the traveling carriage 40. The right driving wheel 41b rotates forward and backward through the right wheel motor M6 so that the traveling carriage 40, that is, the general-purpose cell S is moved. It can be moved and steered. The amount of rotation of the right wheel motor M6, that is, the amount of rotation of the right drive wheel 41b is monitored through a right wheel encoder Em6 that is also provided in the traveling carriage 40. The dependent wheel 42 also supports the general-purpose cell S and rotates independently of the traveling carriage 40. Further, the attachment portion with the bottom surface of the traveling carriage 40 can freely rotate in all directions. It follows the movement of the general-purpose cell S that is steered by the drive wheels 41a and 41b. In the traveling carriage 40 configured in this way, the left drive wheel 41a and the right drive wheel 41b move forward if both rotate in the forward rotation direction at the same speed, and the right drive wheel 41b rotates faster than the left drive wheel 41a. If the left driving wheel 41a rotates faster than the right driving wheel 41b, it turns right. Further, if the left driving wheel 41a and the right driving wheel 41b rotate in opposite directions, they rotate. As described above, the traveling carriage 40, that is, the general-purpose cell S, can be easily moved in an arbitrary direction by the steering control of the drive wheels 41a and 41b. At this time, the general-purpose cell S can grasp its current position based on the rotation amount of each of the drive wheels 41a and 41b monitored by the left and right wheel encoders Em5 and Em6. 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 S is facilitated. Further, in this general-purpose cell S, a cabinet 13 is provided below the base unit 10, and in this cabinet 13, control for overall control of each part including the robot 60 of the general-purpose cell S is performed. The device etc. are accommodated.

Next, a specific configuration of the base unit 10 will be described.
As shown in FIG. 3, the base unit 10 is provided with a ceiling portion 11r supported by a side wall 11 extending upward from one side of the base unit 10, and the robot (here, In this example, the SCARA robot 60 is supported by the base unit 10 in such a manner that it is suspended from the ceiling portion 11r. 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 horizontal and vertical directions on a region 12 (processing area 30) made of a planar regular hexagon corresponding to the upper surface of the base unit 10. Yes.

4A and 4C show the bottom structure of the robot 60, FIGS. 4B and 4D show the side structure of the robot 60, and FIG. 5 shows the robot 60 viewed from above. Each of the operating ranges is shown. Hereinafter, the configuration and functions of the robot 60 will be described in more detail with reference to FIGS. 4 (a) to 4 (d) and FIG.

  As shown in FIGS. 4A to 4D, the robot 60 is provided through 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 shown by a broken line in FIGS. 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. The signal lines for the control signals or monitor signals of these motors and encoders are connected to the corresponding terminals of the control device housed in the cabinet 13.

  In the robot 60, both the first and second arms 62 and 64 are set to have the same operation area based on a circle, and the operation of the arms shown in FIG. The operation in the entire area of the circular area indicated as the range Ra is covered. That is, FIG. 4A shows a state where the robot 60 in the 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 center line C2. Similarly, the first arm 62 can also be independently rotated by swinging the center line C1 clockwise and counterclockwise by 225 ° around the center line C1 in FIG. 4A. ing. Therefore, as described above, the operation in the entire region of the circular region shown as the operation range Ra in FIG. 5 is covered by the cooperation of the first and second arms 62 and 64 as described above. In the present embodiment, the head unit 66 can also be rotated by 225 ° clockwise and counterclockwise about the center line C3 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, even with the general-purpose cell S whose perspective structure is shown in FIG. 2, the transfer of workpieces, the pickup of components supplied through a component supply unit (not shown), and the like can be smoothly executed.

  In addition, a camera 15 is provided at a lower portion of the ceiling portion 11r and corresponding to the front surface of the general-purpose cell S as shown in FIGS. The camera 15 captures a scene around the general-purpose cell S as an image, and its lens part can be rotated in the horizontal direction so that the periphery of the general-purpose cell S can be widely imaged, and also images from the vicinity to the distant place. The tilt angle with respect to the horizontal plane can be changed as possible. The general-purpose cell S is steered based on information captured through the camera 15 so that each cell S itself avoids a collision or an obstacle. In this embodiment, the camera 15 is provided below the ceiling portion 11r. However, as long as image information required for the general-purpose cell S can be acquired, the attachment position of the camera 15 with respect to the general-purpose cell S is arbitrary. It is.

  In the general-purpose cell S shown in FIGS. 2 and 3, the ceiling portion 11r of the base unit 10 is provided with an upper portion of the operation state of the general-purpose cell S through light emitters of different colors. A status indicator PL, which is a device that informs workers and the like, is provided.

  On the other hand, the processing area 30 is horizontally provided in a region 12 made of a regular hexagonal plane shape corresponding to the upper surface of the base unit 10, more precisely, as shown in FIGS. ing. Incidentally, the processing area 30 has a structure including a work holding area 32 together with a stage 31 on which a workpiece (work) is placed. As shown in FIG. 5, the work holding area 32 is provided with a chuck (not shown) for holding the work. The chuck is provided in the work holding area 32. The switching valve BL1 is opened and closed through driving. Further, whether or not the workpiece is held through the chuck is monitored through a sensor U1 provided in the workpiece holding area 32. The signal lines of these valves and sensors are also connected to the corresponding terminals of the control device housed in the cabinet 13, as are the signal lines of the motors and encoders of the robot 60.

  Also, as shown in FIG. 5, an arbitrary part of the processing area 30 on the stage 31 is used as a material supply / material removal area 50. The material supply / removal area 50 is an area for transferring workpieces between the general-purpose cells S, and is located at a position where the operation range of the robot 60 of the adjacent general-purpose cell and the operation range of its own robot 60 overlap. Is set. And between each cell, a workpiece | work is exchanged using the material supply and the material removal area 50 provided in either one of the adjacent cells S. FIG.

Here, with reference to FIG. 6, the electrical configuration of the general-purpose cell S centering on the control device will be described.
As shown in FIG. 6, the control device housed in the cabinet 13 is basically a computer and is connected to the control unit 110 that controls the above-mentioned units through a bus. 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. In addition, the communication IF (interface) 114 constituting the communication device is arranged such that a central control unit serving as a main control device and other general-purpose devices when a desired line layout is formed by arranging a plurality of general-purpose cells S as a production system. This is a part that performs wireless communication with the cell via the antenna 115. Based on the information exchanged through the communication IF 114, at the time of line configuration, the central control unit obtains instructions such as a delivery position and a moving route issued to the traveling carriage 40, and includes the operation as a production line. Thus, timing adjustment and the like with each other general-purpose cell can be achieved. In order to facilitate such communication, each general-purpose cell is given a unique identifier (ID) in the production 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 left wheel motor driver 105 is a circuit that drives a left wheel motor M5 provided in the traveling carriage 40 by a drive signal DM5 generated based on a control command CM5 from the control unit 110. Further, in the left wheel motor driver 105, a signal monitored through the left wheel encoder Em5 also provided in the traveling carriage 40, that is, a signal indicating the rotation amount of the left drive wheel 41a corresponding to the drive amount of the left wheel motor M5. The operation of capturing S5 and returning the captured monitor signal S5 to the control unit 110 is also executed.

The right wheel motor driver 106 is a circuit that drives a right wheel motor M6 provided in the traveling carriage 40 by a drive signal DM6 generated based on a control command CM6 from the control unit 110. Further, in the right wheel motor driver 106, a signal monitored through the right wheel encoder Em6 also provided in the traveling carriage 40, that is, a signal indicating the rotation amount of the right drive wheel 41b corresponding to the drive amount of the right wheel motor M6. An operation of capturing S6 and returning the captured monitor signal S6 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 32 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 32 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 32, 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.

  The image processing device 109 includes an image processing processor (not shown), a data storage device, a drive circuit for selecting and controlling the imaging direction of the camera, and the like. This image processing device 109 directs the lens portion of the camera 15 attached to the lower portion of the ceiling portion 11r based on the control command CIP from the control portion 110 to the instructed direction and angle, and then captures an image of the direction angle. Do. Then, the image processing device 109 stores the image data SIM obtained by the imaging in the data storage device, and performs image processing on the image data SIM by the image processing processor. This image processor processes the image data SIM and detects desired information from the image data SIM. In the present embodiment, other cells and obstacles that become obstacles when the general-purpose cell S moves. Etc., and the distance to these other cells and obstacles, the size thereof, and the like are also determined. Then, the image processing device 109 also performs an operation of returning the determination result by the image processing processor and information on the direction and angle at which the image data SIM is captured to the control unit 110 as route information SIP. .

  FIG. 7 shows an operation example of the general-purpose cell S configured as described above as a single cell. Next, an example of an operation executed through the general-purpose cell S with reference to FIG. Will be described. In FIG. 7, the general-purpose cells S01 to S03 are continuously arranged. Here, the general-purpose cell S02 is used as a single cell.

  In the present embodiment, as described above, the work holding area 32 is provided on the stage 31 of the processing area 30. The general-purpose cell S02 is basically configured to carry the workpiece, pick up the parts thereof, and further process the workpiece installed in the workpiece holding area 32 through the robot 60. The following operations as the general-purpose cell S are all executed in cooperation with the above-described control by the control device.

  That is, as shown in FIG. 7A, the workpiece W, which is a workpiece, is placed on the material supply / removal area 50 of the adjacent general-purpose cell S01 included in the operation range of the robot 60 of the general-purpose cell S02. Suppose that Then, in the general-purpose cell S02, the robot 60 is moved to the material supply / removal area 50 of the general-purpose cell S01, and the supplied workpiece W is gripped through an appropriate tool for workpiece transfer attached to the robot 60. To do.

  The general-purpose cell S02 that has gripped the workpiece W by the robot 60 next transports the workpiece W into the machining area 30 while gripping the workpiece W, and the workpiece W transported in the manner shown in FIG. 7B. Set in the work holding area 32.

  When the workpiece W is set in the workpiece holding area 32 in this manner, in accordance with an instruction from the control unit 110 of the general-purpose cell S02, components (not shown) are incorporated based on a program set as a machining operation by the robot 60 thereafter. Special processing such as is performed.

  After that, the general-purpose cell S02 that has determined that the processing by the robot 60 has ended releases the holding (setting) of the workpiece W, and grips the processed workpiece W in the workpiece holding area 32 again by the robot 60. By transferring this to the material supply / removal area 50 in the mode shown in FIG.

  As described above, the production system configured by using a plurality of general-purpose cells S is arranged in such a manner that the cells adjacent to each other share a part of the operation range of the robot 60. Then, any one of the above-described parts to be the material supply and material removal area 50 is used as a part in which the operation range of the robot 60 is shared by adjacent cells. Specifically, for example, between the general-purpose cell S01 and the general-purpose cell S02, the material supply and material removal area 50 provided in the general-purpose cell S01 is used as a material removal area for the cell S01 and at the same time for the cell S02. Used as a material supply area.

  FIG. 8 schematically shows an electrical configuration when a production system (production line) is configured by using a plurality of general-purpose cells S in this way. As shown in FIG. 8, the operation between the plurality of general-purpose cells S (S01 to Sn (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. 8, 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 S 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 constituting the communication device is a part that mediates communication between the central control unit 120 and each general-purpose cell S. Communication with the control unit 110 of each general-purpose cell S shown in FIG.

  In other words, in the production system illustrated in FIGS. 1 and 7, the robots 60 are electrically connected in such a manner so as to be communicable. Specifically, the workpiece is processed and conveyed in the following manner while avoiding the interference. Here, for convenience of explanation, the general-purpose cell S01 in FIG. 7 is located at the head of the production line, the general-purpose cell S02 is provided adjacent to this, and thereafter the general-purpose cell Sn (not shown) is sequentially arranged. It is assumed that this general-purpose cell Sn is arranged as the last cell in the production line.

That is, now, assuming that the loading of the workpiece W is started within the operation range of the robot 60 (not shown) of the first general-purpose cell S01, the workpiece loaded by the robot 60 in the general-purpose cell S01 as described above. Is conveyed to a stage (processing stage) 31, more precisely, to a work holding area 32 (not shown) installed thereon. Then, after the parts are incorporated into the workpiece W and processed in the above-described manner, the processed workpiece W is transported to the material supply / removal area 50 (the material supply area for the cell S02). . It should be noted that the work W is carried into the operation range of the robot 60 in the general-purpose cell S01 after the work has been transported to the material supply / removal area 50, and the work related to the transport and processing of the work W by the general-purpose cell S01 Is repeatedly executed until the predetermined number of workpieces W has been charged.

  On the other hand, in the general-purpose cell S02 in which the workpiece W is carried (supplied) within the operation range of the robot 60 of the general-purpose cell S02, the workpiece W carried by the robot 60 is transferred to the stage 31 as described above. After the parts are assembled and processed, the processed workpiece W is conveyed to the material supply / removal area 50 (the material supply area for the cell S03). Such processing by the cell S02 is also repeatedly performed until the work W is brought into the operation range of the robot 60.

  Hereinafter, the same processing is also executed in the general-purpose cells S03 to Sn, and in particular, the work carried out from the last general-purpose cell Sn of the production line to the material supply / removal area 50 is a finished product or a semi-finished product. They are taken out by a work unloading device or the like (not shown) and sequentially stored in a storage shelf or the like.

  As described above, in the production system using the general-purpose cell S according to the present embodiment, a pallet, a conveyor, and the like for transporting workpieces are not necessary, and as a common area between adjacent cells. The degree of freedom of the line layout itself is maintained high depending on the intervening material supply, the setting mode of the material removal area 50, and the like.

  9 to 11 show line configuration examples using the above-described general-purpose cell S. Hereinafter, referring to FIGS. 9 to 11, line configuration changes and the like are performed easily and efficiently. A configuration method of the line layout by the production system that can be used will be described.

FIG. 9 conveniently shows the coordinates required for specifying the position of the general-purpose cell S on the floor surface FL of a factory or the like as a grid of a honeycomb structure formed by combining regular hexagons. This is a floor map. It is assumed that this floor map is also input and stored in advance in the database 122 through the input / output device 123 of the central control unit 120 or the like. In the floor map 200, the coordinates are determined so as to correspond to the regular hexagonal shape of the general-purpose cell S. The horizontal direction is “00” to “27”, and the vertical direction is “A”. ”To“ L ”are assigned, and one grid in the floor map 200 is specified by a combination of these numbers. That is, the delivery position and movement route of the general-purpose cell S may be indicated by a combination of the cell numbers. The host computer 121 reads the floor map 200 from the database 122 and sets the input / output device 123 when setting the production line map for configuring the production line by arranging the general-purpose cells S on the floor FL. A production line map is generated by combining with the array of general-purpose cells S input from the above. That is, a general-purpose cell S that is desired to be placed at an arbitrary position in the floor map 200 stored in the database 122 is selected and set, and a production line map for configuring a production line using the general-purpose cell S is generated. At this time, the state set for each general-purpose cell S or the operation to be set is stored in advance in the database 122 as setting data for each general-purpose cell S. Then, when each general-purpose cell S is arranged on the floor map 200 and a production line map corresponding to the production plan is generated each time, while referring to the setting data of each general-purpose cell S, that is, characteristics and functions, The arrangement position of these general purpose cells S can be set. In addition, appropriate control data and control programs stored in the database 122 can be reset for each general-purpose cell S arranged on the production line through wireless communication as necessary. At this time, since the setting data of each general-purpose cell S must be managed corresponding to each general-purpose cell S, here, the above-mentioned unique ID assigned to identify each general-purpose cell S is used. It is trying to make correspondence using it. On the other hand, a work loading device 81 and a work unloading device 82 are provided at the left and right ends of the floor surface FL, corresponding to the floor surface map 200, respectively. That is, the production line arranged on the floor surface FL supplies a workpiece (workpiece) from the workpiece carry-in device 81 to the first general-purpose cell S on the production line and supplies the processed workpiece to the last general-purpose cell S on the production line. Is discharged to the work carry-out device 82.

  10 and 11 show an example in which general-purpose cells S (S01 to S28) are arranged on the floor map 200. FIG. Here, FIG. 10 shows a state in which the general-purpose cell S is waiting in the standby space WS corresponding to rows A to D in the map. From this state, the general-purpose cells for the production system are arranged by the production system described above. Thus, the production line according to the production plan shown in FIG. 11 is automatically configured.

  That is, in this example, it is assumed that the general-purpose cells S01 to S28 are waiting in the standby space WS in the mode shown in FIG. At this time, the host computer 121 of the central control unit 120, which has obtained the production line map as shown in FIG. 11 from the database 122, separately delivers a delivery command including coordinate information of delivery positions to each of the general-purpose cells S01 to S28. Is generated. Then, the generated delivery command is transmitted from the communication IF 124 via the antenna 125 to the corresponding general-purpose cells S01 to S28 by wireless communication. As the delivery command to be transmitted, a data structure composed of serial data or the like divided for each ID described above of each of the general-purpose cells S01 to S28 can be adopted.

  In each of the general-purpose cells S01 to S28 that have received the delivery command in this way, when its own ID is detected from the identifier (ID) transmitted prior to the delivery command, the corresponding delivery command is acquired and the control unit 110 (FIG. 6). Stored in the internal RAM 113. And various parameters, such as the coordinate of the delivery position acquired from the said delivery instruction | command, are set with respect to the control data, control program, etc. which control the driving | running | working with the traveling cart 40 in own CPU111 through the control part 110. FIG. Incidentally, in the example of FIG. 11, the coordinates “D00” are set for the general-purpose cell S01, the coordinates “D02” are set for the general-purpose cell S02, and the coordinates “G01” are set for the general-purpose cell S03.

  When the delivery command is transmitted to all the general purpose cells S01 to S28, the host computer 121 sequentially gives a movement command to each of the general purpose cells S01 to S28. First, the general-purpose cell S01 to which the movement command is given from the host computer 121 starts to move toward the coordinate “D00” of the delivery position set by the delivery command. At this time, in the general-purpose cell S01, the image data SIM imaged by the camera 15 is processed by the image processing device 109, and the vehicle travels while checking the presence or absence of obstacles in the traveling direction based on the obtained route information SIP. Will be. At this time, when an obstacle or the like is recognized by the route information SIP, the driving amount of the left driving wheel 41a and the right driving wheel 41b is changed to steer and automatically avoid the obstacle, Alternatively, the vehicle autonomously travels through the traveling carriage 40 from its temporary stop to its delivery position. When the movement to the delivery position in a predetermined direction is completed, the general-purpose cell S01 notifies the central control unit 120 that the movement to the delivery position is completed via wireless communication.

That is, as shown in FIG. 11, the general-purpose cell S01 moves from the coordinate “C01” to the coordinate “D01”, and notifies the central control unit 120 when the moving arrangement is completed. When the movement of the general-purpose cell S01 is completed, the central control unit 120 issues a movement command to the next general-purpose cell S02. Then, the general-purpose cell S02 moves from the coordinate “C03” to the coordinate “D02”, and similarly notifies the central control unit 120 when the movement is completed. When the movement of the general-purpose cell S02 is completed, the central control unit 120 issues a movement command to the general-purpose cell S03. The general-purpose cell S03 moves from the coordinate “C05” to the coordinate “G01” and notifies the central control unit 120 when the movement is completed. Thereafter, the central control unit 120 sequentially performs, for example, general-purpose cells S04 to S09, S1 in an order suitable for forming a production line.
4 to S10, S17 to S19, S23 to S28, and finally a general purpose cell S16 is given in this order to automatically configure a desired production line.

  As described above, according to the production system according to the present embodiment and the general-purpose cell for production system used in the production system, the effects listed below can be obtained.

  (1) Each general-purpose cell S is provided with a traveling cart 40 that autonomously travels while being steered through the control unit 110, and a production plan is transmitted through transmission of different delivery commands to the traveling cart 40 of each cell S by the communication IFs 114 and 124. The production line according to the system was configured automatically. For this reason, it becomes possible to cope with a change in the line configuration as a production system easily and with high efficiency.

  (2) Similarly, each cell S is equipped with a camera 15 and an obstacle or the like is detected from image data SIM imaged through the camera 15. This makes it possible to achieve stable steering control that can avoid collisions between cells and obstacles.

(3) Since each cell S has a unique identifier (ID), the communication function of the entire system is properly maintained even when a delivery command is transmitted.
(4) The production in a mode in which a material supply / removal area 50 is provided at a position where a part of the operation range Ra of the robot 60 is shared by cells delivered to positions adjacent to each other in each cell S. The production line according to the plan was configured automatically. As a result, it is possible to immediately function as a production line at least for conveying a workpiece (workpiece).

  (5) The above-described base unit 10 and processing area 30 are configured as a set of each element that is necessary for conveyance and processing of the workpiece (work W) as a production system cell. As a result, the degree of freedom of work assignment to the cell S, that is, versatility is naturally increased, and various production functions required for the production system can be realized only by listing the cells S. That is, the degree of freedom of the line layout when configuring the production system is maintained high. It should be noted that all functions in units of cells are completed by incorporating a component supply unit or the like used for supplying components of a workpiece (workpiece) as a set in such a cell. However, in such a production line, the workpiece is usually changed according to the production plan each time, and as a result, the necessary parts are usually changed each time. Incorporating as a set may adversely affect the freedom of line layout. Moreover, this is especially true for production lines that are automatically configured in this way. In this regard, according to the above cell structure, such a component supply unit is not intentionally incorporated, so that the degree of freedom of line layout as an automatically configured production line is naturally maintained high.

  (6) A ceiling part 11r supported via the side wall 11 is provided above the base unit 10, and the robot 60 is supported by the base unit 10 in a manner to be suspended from the ceiling part 11r. did. As a result, the operation range Ra of the robot 60 can also cover a wide range including the entire region below the robot 60, and effective use of the region constituting the base unit 10 including the processing area 30 can be achieved. Be able to.

(7) In particular, the robot 60 includes first and second arms 62 and 64 having the same length that have mutually circular motion regions and can pass through overlapping positions. A SCARA robot that can turn more than “± 225 °” with the overlapping posture as the origin posture is adopted. This makes it possible to cover the entire area inside the circles based on the circles. That is, at least the blind spot in the base unit 10 is surely eliminated in the robot operation range set from the inside to the outside of the base unit 10.

  (8) As the basic structure of the general-purpose cell S, the planar shape including the base unit 10 is a regular hexagon, so that the line layout design as a production system becomes easier. In addition, the line layout with the highest efficiency and the highest degree of freedom as seen in the so-called “honeycomb structure” is possible.

In addition, the said embodiment can also be implemented in the following aspects, for example.
In the above-described embodiment, the general-purpose cell S obtains image data SIM captured by the camera 15 using the image processing device 109 to prevent collision between cells that are in the process of receiving a delivery command and to detect an obstacle. The route information SIP was used. However, the present invention is not limited to this, and cell-to-cell collision can be prevented in advance by transmitting route information for each cell as a delivery command from the host computer 121 or the like in advance.

  In the above embodiment, when the line is automatically configured, the movement command is transmitted to each cell, and the movement command is transmitted. However, the route information SIP based on the imaging of the camera 15 or the host computer 121 transmits the movement command. When route information or the like is used in combination, it is also possible to transmit a movement command to all the cells to be moved at the same time. Even in this case, each cell moves autonomously on its traveling route and moves to the delivery position while avoiding other cells or obstacles on the route.

  In the above embodiment, when a production system using a plurality of general-purpose cells is constructed, the electrical connection is made via the communication line as illustrated in FIG. 8, but the communication form is wired or wireless. It is not limited. In addition, without providing the central control unit 120, an equivalent communication network can be formed using any one of the general-purpose cells S as a master cell.

  In the above embodiment, as the basic structure of the general-purpose cell S, the planar shape including the base unit 10 is a regular hexagon. However, if the planar shape is a polygon more than a quadrangle such as a rectangle or a regular octagon, The degree of freedom of work assignment for the cell, that is, versatility is maintained. Various production functions required for the production system can be realized only by enumerating the cells. In addition, since the planar shape of the cell itself is a polygon similar to that of the base unit, the relationship “planar shape of the base unit = planar shape of the cell itself” is established. As a result, the downsizing of the physique is promoted, and the degree of freedom of line layout in constructing a production line can be further improved.

In the above embodiment, the component supply unit is not incorporated in each cell. However, the component supply unit may be incorporated in each cell as a set.
In the above embodiment, each of the first and second arms 62 and 64 constituting the robot 60 has a turnable angle from the origin posture in the clockwise and counterclockwise directions, that is, in the “±” direction. “225 °” was set. However, by setting the swivel (rotation) possible angle to “± 180 °” or more, it is possible to cover the entire area inside the circle illustrated in FIG. 5 without creating a blind spot. 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 embodiment, although the side wall 11 which supports the ceiling part 11r was provided in the aspect standing upright from the base end side with respect to the base unit 10, about the ceiling part 11r,
It is good also as a structure which supports this by several support | pillar. Further, instead of the so-called ceiling-suspended robot, a robot that protrudes from the side wall 11 may be employed.

  In the above embodiment, the material supply / removal area 50 is used for supplying and removing the workpiece. However, the position and number of the material supply / removal area 50 are arbitrary as well as the use of the material supply / removal area 50. It can also be used as an area for supplying.

  In the above embodiment, the workpiece is also processed by the robot 60. However, in each of the general-purpose cells S, the use of the robot 60 including the processing area 30 is arbitrary. For example, in the following mode These processing areas and robots can also be used.

(A) The processing area is provided with a dedicated processing machine including a unique robot for processing the transferred work, and the robot itself performs only the operation of transporting the work to the processing machine. That is, in this case, the robot
a. Conveyance of the workpiece to the processing machine; b. Pick-up of parts supplied as appropriate, and c. Assembling the picked-up part into the workpiece, and d. Sending out workpieces processed by this processing machine,
Each operation will be performed. In this case, although it is necessary to replace the processing machine when reconfiguring the line configuration, etc., each robot basically only needs to perform the workpiece transfer operation, so it is standardized as each cell. Is promoted.

(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. Through the auto tool changer. ~ 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. 8), the required versatility as the cell is suitably maintained. That is, even when the line configuration is changed, the setting contents can be updated for each cell.

  In the above embodiment, a SCARA robot is adopted as the robot 60. However, in particular, when the utilization is made as in the above (B) or the previous embodiment, the type is also arbitrary. In addition, for example, a type of robot having a function such as “human hand” can be appropriately employed.

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows the whole perspective structure about one Embodiment of the production system concerning this invention and the general purpose cell for production systems. The perspective view which shows the whole perspective structure about the general purpose cell of the embodiment. About the general purpose cell of the embodiment, (a) is the top view, (d) is the front view, (c) is the left side view, and (d) is the rear view. (A), (c) is a bottom view which shows the bottom face structure of the robot employ | adopted as the general purpose cell of the embodiment, (b), (d) is a side view which similarly shows the side structure of a robot. The top view which shows the planar structure including the movement range of a robot about 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)-(c) is a top view which shows the operation example of the general purpose cell of the embodiment. The block diagram which shows the electrical structural example as a production system of the embodiment. The schematic diagram which shows the floor surface map example of the general purpose cell as a production system of the embodiment. The schematic diagram which shows the example of cell arrangement | positioning before the production line structure as a production system of the embodiment. 1 is a schematic diagram showing a configuration example of a production line as a production system of the embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Base unit, 11 ... Side wall, 11r ... Ceiling part, 12 ... Area | region which consists of planar shape hexagon on base unit, 13 ... Cabinet, 30 ... Processing area, 31 ... Stage (processing stage), 32 ... Work holding area , 40 ... traveling carriage, 41a ... left driving wheel, 41b ... right driving wheel, 42 ... subordinate wheel, 50 ... feeding, material removal area, 60 ... robot, 61 ... first shaft, 62 ... first arm, 63 ... Second shaft, 64 ... Second arm, 65 ... Third shaft, 66 ... Head unit, 67 ... Tool fixture, 81 ... Work loading device, 82 ... Work loading device, 101 ... First motor driver DESCRIPTION OF SYMBOLS 102 ... 2nd motor driver 103 ... 3rd motor driver 104 ... Lifting motor driver 105 ... Left wheel motor driver 106 ... Right wheel motor driver 107 ... Valve driver 108, external input / output IF (interface), 109, image processing apparatus, 110, control unit, 111, CPU, 112, ROM, 113, RAM, 114, communication IF (interface), 115, 125, communication antenna, DESCRIPTION OF SYMBOLS 120 ... Central control part, 121 ... Host computer, 122 ... Database, 123 ... Input / output device, 124 ... Communication IF (interface), S, S01-S28 ... General-purpose cell, Ra ... Operating range, M1 ... First motor, M2 ... second motor, M3 ... third motor, M4 ... lifting motor, M5 ... left wheel motor, M6 ... right wheel motor, BL1 ... switching valve, U1 ... sensor, Em1 ... first encoder, Em2 ... second encoder, Em3 ... Third encoder, Em4 ... Elevating encoder, Em5 ... Left wheel encoder, Em6 ... Right wheel encoder Over da.

Claims (14)

A production system that configures a production line by rearranging a plurality of cells that can be generally used for processing and conveying a workpiece according to a production plan each time,
The cell is provided with a robot having an operation area to the outside of the cell, and a traveling carriage that autonomously travels while being steered through a control device is provided on the cell bottom surface. A production system, wherein a production line corresponding to the production plan is automatically configured through transmission of another delivery command. Each of the cells is given an identifier that is unique within the production system, and each delivery command to the traveling carriage of each cell by the communication device is distinguished and transmitted by this identifier. The production system described. The production line according to the said production plan is automatically comprised in the aspect in which a part of operation | movement area | region of the said robot is shared between the cells delivered to the mutually adjacent position of each said cell. Production system. Each of the cells has a polygonal shape having a planar shape of a quadrangle or more, and a base unit in which at least a robot used for transporting the workpiece is supported so as to be movable on a planar region formed of the polygon; A working area provided inside the base unit, and an operation range of the robot supported by the base unit is set in a range from the inside to the outside of the base unit including the working area. Item 4. The production system according to any one of Items 1 to 3. In each of the cells, 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. 4. The production system according to 4. 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 production system according to claim 5. The production system according to any one of claims 4 to 6, wherein each of the cells includes the base unit, and a planar shape of the cell is a quadrilateral or more polygon. The production system according to any one of claims 4 to 7, wherein a planar shape including a polygon equal to or more than the quadrangle is a regular hexagon. A general-purpose cell for a production system that is used in a production system that constitutes a production line by rearranging a plurality of cells that can be used universally for processing and transporting workpieces according to each production plan,
A robot having an operation area outside the cell is provided, and a traveling carriage that autonomously travels while being steered through a control device is provided on the bottom surface of the cell, and is commanded based on a delivery command to the traveling carriage by a communication device. A general-purpose cell for production systems, characterized by autonomous travel to the delivery position. The robot is supported by a base unit having a polygonal shape whose plane shape is a quadrilateral or more so as to be movable on a plane area consisting of the polygon, and a processing area is provided inside the base unit. The general-purpose cell for a production system according to claim 9, wherein an operation range of the 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 production according to claim 10, wherein 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. General-purpose cell for the system. 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 11. The general-purpose cell for a production system according to any one of claims 10 to 12, wherein the planar shape including the base unit is a polygon having a quadrangle or more. The general-purpose cell for a production system according to any one of claims 10 to 13, wherein a planar shape composed of polygons equal to or more than the quadrangle is a regular hexagon.

Images