JP2012148368A - Workpiece processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To physically process a workpiece precisely after positioning varieties of workpieces using one type of workpiece receiving device.SOLUTION: The workpiece processing system includes: a clamper 2 clamping a workpiece W with a reference hole DH formed therein; a workpiece receiving device 4 having a plurality of actuators 3 that move up/down or incline the clamper 2; an industrial robot 5 in which a processing device 6 is fixed to a tip arm 51 to apply physical processing on the workpiece W clamped by the clamper 2 of the workpiece receiving device 4; an imaging device 7 fixed at a predetermined position to image the reference hole DH of the workpiece W; and a robot control unit 11 that controls the industrial robot 5 so that the processing device 6 moves to a processing position and corrects the processing position according to the direction and amount of the displacement when the reference hole DH of the workpiece W clamped by the clamper 2 is displaced by comparing a reference position value and a measured position value of the reference hole DH obtained by processing an image of the reference hole DH captured by the imaging device 7.

Description

  The present invention relates to a workpiece processing system, and more particularly, to a workpiece processing system capable of performing processing such as welding, sealing, drilling, and screw tightening on a workpiece with an industrial robot after positioning the workpiece with a clamper. .

  2. Description of the Related Art Conventionally, positioning jigs for positioning a workpiece when welding the workpiece are known (see, for example, Patent Document 1 and Patent Document 2). For example, as shown in FIG. 4, this positioning jig spot welds a related part (not shown) to a floor panel, which is a work W, by a predetermined number of hit points using an industrial robot 101 in an automobile manufacturing process. In order to fix the floor panel W so as not to be displaced due to spot welding, a workpiece receiving device 103 having a clamper 102 that is opened and closed by an air cylinder or a hydraulic cylinder is provided.

  Such a workpiece receiving device 103 is installed on the installation base 105 by a clamper receiving piece 104 to which the clamper 102 is fixed. Further, the workpiece receiving devices 103 are arranged around the front panel W to be welded in a number corresponding to the size of the front panel W. Further, the installation base 105 is provided with a reference pin receiving piece 107 to which a reference pin 106 for positioning the floor panel W is fixed. By fitting a reference hole DH provided in advance in the front panel W to the reference pin 106, the floor panel W can be positioned at an optimum position for spot welding by the industrial robot 101.

  The industrial robot 101 is controlled by the robot control unit 201. When different vehicle type information is input for each vehicle type from the vehicle type information output unit 202, the robot control unit 201 can control the industrial robot 101 so as to perform spot welding at a welding position and the number of hit points according to the vehicle type. .

JP 2000-190136 A JP 2009-297841 A

  However, in the workpiece processing system 100 including the workpiece receiving device 103, the industrial robot 101, and the robot control unit 201 described in the background art described above, the clamper receiving piece 104 and the reference pin receiving piece 107 may be different depending on the vehicle type. Since the shape of the front panel is different, there may be a need for a receiving piece for a clamper or a receiving piece for a reference pin that differs for each vehicle type. Therefore, to achieve multi-vehicle mixed flow production on a single line, the reference pin receiving piece and the clamper receiving piece for positioning must be disturbed, and the positioning jig becomes complicated and the maintainability becomes poor. was there.

  In addition, there is a variation in the work set due to the tolerance of the reference pin 106, and the state of the work set changes due to wear of the reference pin 106, the clamper receiving piece 104, and the reference pin receiving piece 107. There is concern that it will affect the improvement of

  The present invention has been made to solve such a conventional problem, and can easily position a wide variety of workpieces having different shapes with a single type of workpiece receiving device. It is an object of the present invention to provide a work processing system that can accurately perform physical processing on a work even without it.

  A workpiece processing system according to a first aspect that achieves the above-described object includes a clamper that clamps a workpiece provided with a positioning reference hole, and a plurality of actuators that can move the clamper in the vertical direction and tilt the clamper. A workpiece receiving device and a plurality of arms are connected to each other at a joint portion, and a processing device for performing a predetermined physical process on a workpiece clamped by a clamper of the workpiece receiving device is fixed to the tip arm. An industrial robot, an imaging device that images a reference hole of a workpiece fixed at a predetermined position and clamped by a clamper, and an industrial apparatus so that the processing device moves to a processing position where a predetermined physical process can be performed. Control the robot for the reference hole obtained by image processing the image of the reference hole imaged by the imaging device If the reference hole of the workpiece clamped by the clamper is misaligned, the measured value is compared with the position reference value of the reference hole determined in advance. And a robot control unit that corrects the position, and the workpiece receiving devices are arranged in at least two or more locations so that the workpiece is not displaced when physical processing is performed on the workpiece.

  According to such a work processing system as the first aspect, the clamper can be moved in the vertical direction while operating the plurality of actuators uniformly, and the plurality of actuators can be moved separately. Since the clamper can be tilted by moving it or moved up and down in the tilted state, the workpiece receiving devices arranged in at least two locations according to the size of the workpiece are A wide variety of different workpieces can be clamped with only one type. Furthermore, when the position of the reference hole of the workpiece is detected by the imaging device, the reference hole of the workpiece clamped by the clamper is displaced. Use the reference pin because the robot controller can correct the processing position according to the direction and amount of displacement. Ku can be accurately performed physical treatment against workpiece.

  In the workpiece processing system according to the second aspect of the present invention, in the work processing system according to the first aspect, the actuator has one end rotatably connected to three concentric circles at the lower part of the clamper at equal intervals, and the other end is concentric. It is rotatably connected to the installation base so as to extend from the center of the circle toward the outer peripheral direction.

  According to the work processing system as the second aspect as described above, the clamper can be freely tilted in all directions with respect to the horizontal plane direction by operating a minimum number of actuators. This makes it easy to adjust the clamper's horizontal level and tilt level.

  According to a third aspect of the present invention, in the workpiece processing system according to the first aspect or the second aspect, the actuator rotates the ball nut through a speed reduction mechanism with an electric motor, thereby rotating the ball nut. It is an electric linear actuator that converts the linear motion of the ball screw shaft.

  According to the workpiece processing system as the third aspect, the positioning accuracy of the workpiece can be increased.

  According to a fourth aspect of the present invention, in the work processing system according to any one of the first to third aspects, the work receiving device may perform a predetermined physical process on the work. A rough guide member that guides the workpiece is provided at a processing position where the workpiece can be processed.

  According to the workpiece processing system of the fourth aspect as described above, the physical processing can be accurately performed on the workpiece simply by determining the approximate position for clamping the workpiece by the rough guide. Can be easily positioned.

  According to a fifth aspect of the present invention, in the work processing system according to any one of the first to fourth aspects, the imaging device is a wide-angle camera. According to the workpiece processing system of the fifth aspect as described above, the allowable range of positional deviation of the reference hole of the workpiece clamped by the clamper can be widened, so that the workpiece can be easily positioned.

  According to a sixth aspect of the present invention, in the work processing system according to any one of the first to fifth aspects, a welding gun, a sealer gun, A mechanism for connecting only one impact wrench and one drill head is provided. As this mechanism, a tool changer for connecting between the arm at the tip of the industrial robot and the tool can be considered.

  According to the work processing system as the seventh aspect, the work processing system of the present invention can perform various physical processes.

  According to the workpiece processing system of the present invention, it is possible to easily position a wide variety of workpieces having different shapes with a single workpiece receiving device, and it is possible to accurately perform physical positioning with respect to the workpiece without using a reference pin. Process can be performed.

1 is an overall view showing a preferred embodiment of a work processing system of the present invention. It is a perspective view which shows the specific example of the workpiece receiving apparatus which is an essential component of the workpiece | work processing system of this invention. It is a perspective view which shows the floor panel which is a specific example of the workpiece | work with which a physical process is given with the workpiece | work processing system of this invention. It is a general view which shows the conventional workpiece processing system.

  Hereinafter, an example for carrying out a work processing system of the present invention will be described with reference to the drawings. In FIG. 1, the structure of the workpiece receiving device 4 is shown larger than that of the industrial robot 5 in order to facilitate understanding.

  As shown in FIG. 1, the workpiece processing system of the present invention includes a clamper 2 for clamping a workpiece W (see FIG. 3) provided with a positioning reference hole DH for fitting with a reference pin, and a clamper 2. The workpiece receiving device 4 having a plurality of tiltable actuators 3 and a plurality of arms are connected to each other at joints, and the distal end arm 51 is clamped to the clamper 2 of the workpiece receiving device 4. An industrial robot 5 to which a processing device 6 for performing predetermined physical processing such as welding, sealer application, drilling, surface cleaning, etc. is fixed to a workpiece W, and fixed to a predetermined position and clamped to a clamper 2 The imaging device 7 that images the reference hole DH of the workpiece W and the processing device 6 move to a processing position where a predetermined physical process can be performed. And a robot controller 11 for controlling the urchin industrial robot 5.

  As shown in FIG. 2, the work receiving device 4 can use, for example, a rotary clamp cylinder as the clamper 2. In the rotary clamp cylinder 2, a piston rod 22 is connected to a piston (not shown) that is slidably and rotatably fitted in the cylinder tube 21, and performs linear motion and rotational motion on the piston rod 22. Can be made. A clamp piece 23 is fixed to the tip of the piston rod 22 via an arm 24, and a clamp receiving portion 26 for clamping the workpiece W together with the clamp piece 23 is fixed to a flange 25 to which the bottom surface of the cylinder tube 21 is fixed. Has been. In such a rotary clamp cylinder 2, when the workpiece W is not clamped, the clamp piece 23 is retracted to the standby position, and when the workpiece W is clamped, the piston rod 22 is raised from the standby position to a predetermined position, The piston rod 22 is rotated at that position, the clamp piece 23 is moved to a position for clamping the work W (position of the clamp receiving portion 26), and the piston rod 22 is lowered at the clamp position to clamp the work W. It can be clamped by the piece 23 and the clamp receiving portion 26.

  The workpiece receiving device 4 can use, for example, an electric linear actuator as the actuator 3. The electric linear actuator 3 is configured to convert the rotational motion of the ball nut into the linear motion of the ball screw shaft 31 by rotationally driving the ball nut through a reduction mechanism with an electric motor. According to such an electric linear actuator 3, the positioning accuracy of the workpiece W can be increased. Furthermore, the electric linear actuator 3 is connected to three concentric circles at an equal interval in a flange 25 whose one end is fixed to the bottom surface (lower part) of the clamper 2, and the other end is a circular center of the concentric circle. Is rotatably connected to the installation base 8 so as to extend in the outer circumferential direction. By arranging the actuators 3 in this way, the clamper 2 can be freely tilted in any direction with respect to the horizontal plane direction by operating the minimum number of actuators 3. It is easy to adjust the horizontal level and tilt level. In addition, the link ball joint which is a spherical plain bearing can be used for these connection parts, for example.

  Specifically, in the electric linear actuator 3, the housing is fixed to one plate piece 33a of the pair of plate pieces 33a and 33b opposed to the U-shaped fitting 33, and the ball screw shaft 31 is linked to the link ball joint 32. It is connected to the bottom surface of the flange 25 via Further, the other plate piece 33 b of the U-shaped metal fitting 33 is connected to the installation base 8 via a link ball joint 34. Further, the link ball joints 32 and 34 are constituted by a mounting bolt, a holder and a mounting nut, and the mounting bolt, the holder and the mounting nut are arranged on the same axis. Therefore, the mounting bolt of the link ball joint 32 is screwed into a female screw portion provided on the bottom surface of the flange 25, and the mounting nut is screwed to the ball screw shaft 31 of the electric linear actuator 3. Further, the mounting nut of the link ball joint 34 is screwed to the other plate piece 33 b of the U-shaped metal fitting 33, and the mounting bolt is screwed to the female thread portion provided on the installation base 8.

  The workpiece receiving devices 4 configured in this manner are arranged at least at two or more locations so that the workpiece W is not displaced when performing physical processing on the workpiece W.

  The arm 51 at the tip of the industrial robot 5 is provided with a mechanism that can connect only one welding gun, sealer gun, impact wrench, and drill head as the processing device 6. As this mechanism, a tool changer for connecting between the arm at the tip of the industrial robot and the tool can be considered. Therefore, the work processing system of the present invention can perform various physical processes. In addition, it is preferable from a viewpoint of workability | operativity that a tool changer can attach or detach a tool with one touch.

  The imaging device 7 is preferably a wide angle camera, for example. Since the wide-angle camera can widen the allowable range of positional deviation of the reference hole DH of the workpiece W clamped by the clamper 2, the workpiece W can be easily positioned.

  The clamper 2 and the three actuators 3 of the workpiece receiving device 4 are controlled by a workpiece receiving device control unit 12 as shown in FIG. When different vehicle type information is input from the vehicle type information output unit 13 for each vehicle type, the workpiece receiving device control unit 12 controls the three actuators 3 along the shape and size of the workpiece W according to the vehicle type. And a control function for controlling the opening and closing operation of the clamper 2. Therefore, for example, the three actuators 3 can be moved uniformly to move the clamper 2 in the vertical direction while being in a parallel state, and the three actuators 3 can be moved separately to incline the clamper 3. Or can be moved up and down in an inclined state.

  When different vehicle type information is input for each vehicle type from the vehicle type information output unit 13, the robot control unit 11 causes the industrial robot 5 to perform physical processing according to the vehicle type, for example, spot welding at a welding position and the number of hit points. It has the 1st control function to control. Further, the robot control unit 11 performs an actual position measurement value of the reference hole DH obtained by performing image processing on an image of the reference hole DH imaged by the imaging device 7, and a predetermined position reference value of the reference hole DH. If the reference hole DH of the workpiece W clamped by the clamper 2 is displaced, the second control function for correcting the processing position according to the displacement direction and the displacement amount is provided. Yes. The second control function of the robot control unit 11 can correct the welding work position by the industrial robot 5, so that spot welding can be accurately performed on the workpiece W without using a reference pin. it can.

  The workpiece receiving device 4 may be provided with a rough guide member 9 for guiding the workpiece W at a processing position where the workpiece W can be subjected to a predetermined physical process. The rough guide member 9 does not accurately guide the workpiece W, but merely determines its position. By providing such a rough guide member 9 in the workpiece receiving device 4, the workpiece processing system 1 of the present invention can be applied to the workpiece W only by determining an approximate position for clamping the workpiece W by the rough guide member 9. Since the physical processing can be performed accurately, the workpiece W can be easily positioned.

  The operation of the work processing system 1 of the present invention configured as described above will be described below. The processing device 6 is a spot welding welding gun, and the workpiece W is a floor panel provided with four reference holes DH shown in FIG. Therefore, the workpiece receiving device 4 that clamps the floor panel W with the clamper 2 is arranged so as to clamp each of the three plate surfaces provided with two reference holes DH, and the four reference holes DH are provided. Assume that imaging devices 7 for imaging are arranged at four locations.

  First, when the workpiece receiving device control unit 12 inputs the vehicle type information output from the vehicle type information output unit 13, the workpiece receiving device control unit 12 includes six workpiece receiving devices 4 each having three actuators 3 based on the vehicle type information. The clamper 2 is moved in the vertical direction in a parallel state, the clamper 2 is tilted by operating the three actuators 3 separately, and the clamper 2 is tilted in the vertical direction. It can be moved. Accordingly, since the clampers 2 of the six workpiece receiving devices 4 can be appropriately clamped in a state corresponding to the shape of the floor panel W, the six workpiece receiving devices 4 have a wide variety of shapes different for each vehicle type. The floor panel W can be clamped with only one type.

  Further, when the robot control unit 11 inputs the vehicle type information output from the vehicle type information output unit 13, the first control function corresponding to the vehicle type information is selected, but the reference of the floor panel W is selected by the four imaging devices 7. When the position of the hole DH is detected and the reference hole DH of the floor panel W clamped by the clamper 2 is displaced, the robot control unit 11 receives the displacement information signal from the imaging device 7. In the second control function, the actual position value of the reference hole DH obtained by performing image processing on the image of the reference hole DH imaged by the imaging device 7, and a predetermined position reference value of the reference hole DH Since the reference hole DH of the workpiece W clamped by the clamper 2 is misaligned, the spot welding position by the industrial robot 5 is determined according to the misalignment direction and the misalignment amount. It is corrected.

  Since the workpiece processing system 1 can be operated in this way, it is possible to easily position a wide variety of workpieces having different shapes with one type of workpiece receiving device, and even without using a reference pin. Can be accurately subjected to physical processing. Accordingly, since the workpiece receiving device can be prevented from becoming complicated, the maintainability is improved and the vehicle body accuracy can be improved.

  The actuator is not limited to the electric linear actuator as long as the clamper 2 can be moved in the vertical direction and can be tilted. The clamper 4 is not limited to the rotary clamp cylinder as long as the workpiece W can be clamped.

  Although the present invention has been described with the specific embodiments shown in the drawings, the present invention is not limited to the embodiments shown in the drawings, and is known so far as long as the effects of the present invention are achieved. It goes without saying that any configuration can be adopted.

1 …… Work processing system 2 …… Clamper 3 …… Electric linear actuator (actuator)
4 …… Work receiving device 5 …… Industrial robot 51 …… End arm 6 …… Processing device 7 …… Wide-angle camera (imaging device)
9 …… Rough guide member 11 …… Robot controller W …… Workpiece DH …… Reference hole

Claims (6)

A clamper for clamping a workpiece provided with a reference hole for positioning, and a workpiece receiving device having a plurality of actuators capable of moving the clamper vertically and tilting;
An industry in which a plurality of arms are connected at joints, and a processing device for performing a predetermined physical process on the workpiece clamped by the clamper of the workpiece receiving device is fixed to the tip arm. Robot for
An imaging device that images the reference hole of the workpiece fixed to a predetermined position and clamped by the clamper;
Controlling the industrial robot so that the processing apparatus moves to a processing position where the predetermined physical processing can be performed, and image processing the image of the reference hole imaged by the imaging device If the reference hole position of the workpiece clamped by the clamper is misaligned by comparing the actual position measurement value of the reference hole obtained in step 1 with a predetermined reference position value of the reference hole. A robot control unit that corrects the processing position according to the direction and amount of displacement,
The work receiving device is arranged at least in two or more places so that the work is not displaced when the physical processing is performed on the work.   The actuator is pivotally connected to three positions on a concentric circle at the lower part of the clamper so as to be rotatable at equal intervals, and the other end is pivoted to the installation base so as to extend from the center of the concentric circle toward the outer circumferential direction. The work processing system according to claim 1, wherein the work processing system is freely connected.   The actuator is an electric linear actuator that converts a rotational motion of the ball nut into a linear motion of a ball screw shaft by rotationally driving the ball nut via a speed reduction mechanism with an electric motor. The work processing system according to claim 1 or 2.   2. A rough guide member that guides the workpiece at the processing position where the predetermined physical processing can be performed on the workpiece. Item 4. The work processing system according to any one of Items 3 above.   The work processing system according to claim 1, wherein the imaging device is a wide-angle camera.   A mechanism for connecting only one welding gun, sealer gun, impact wrench, and drill head as the processing device is provided at the tip arm of the industrial robot. Item 6. The work processing system according to any one of Items5.

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