JP2017124454A - Production apparatus line, production apparatus line control method, and production apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to transfer and receive workpieces between production apparatuses in preceding and subsequent stages in a production apparatus line having plural production apparatuses arranged therein, without requiring handshaking communication between the two stages.SOLUTION: A production apparatus 2a comprises a conveyance device 3a for transferring a workpiece 7a to a production apparatus 2b in a workpiece transfer region 10b, and the production apparatus 2b comprises a holding device 5b for receiving the workpiece 7a from the production apparatus 2a. The production apparatus 2a includes first sensors (6a, 9a) for detecting a workpiece holding state of the holding device 5b, and the production apparatus 2b includes a second sensor (8b) for detecting a work conveying state of conveyance device 3a. The production apparatus 2b causes the holding device 5b to initiate a workpiece receiving operation according to the workpiece conveying state detected by the second sensor. The production apparatus 2a causes the conveyance device 3a to terminate a workpiece conveying operation according to the workpiece holding state detected by the first sensors.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a production apparatus line configured by arranging a plurality of production apparatuses, a method for controlling the production apparatus line, and a production apparatus constituting the production apparatus line.

  2. Description of the Related Art Conventionally, there is known a manufacturing facility configured by arranging a plurality of production apparatuses, for example, in series, at a manufacturing site for various articles and industrial products. In this type of production equipment line, the production equipment responsible for one process is sometimes called a module (or cell, unit, station) or the like.

  In recent years, such a configuration has the advantage that the production equipment line can be changed and modified easily and quickly according to changes in product specifications in accordance with the diversification of work objects (work) and production forms. There is. If the production equipment is modularized in units of basic and small unit processes, it is possible to respond quickly and flexibly to changes in product specifications, etc. by disconnecting, connecting and replacing part of the production equipment on the line it can.

  The production apparatus constituting this type of production apparatus line includes, for example, a robot hand that performs a workpiece operation, a gripping apparatus such as a gripper, and a work table. In addition, in order to control the relative positional relationship between the gripping device, the work table, and the workpiece thereon, a so-called multi-axis robot, an orthogonal (X, Y, Z) stage (orthogonal robot), and the like are provided. Moreover, each production apparatus which comprises a production apparatus line has a container like a housing | casing and a frame of standardized size and shape, for example. Each production apparatus constitutes a production apparatus line by, for example, arranging blocks having such a container as an outer shell in series in the front-rear direction.

  On the other hand, in the production apparatus line configured as described above, cooperation control between modular production apparatuses is required. For example, when the assembly process in the former production apparatus is completed, a process of transferring workpieces between the former production apparatus and the latter production apparatus is required. For example, a workpiece is transported from a former production device to a subsequent production device by a conveyance device, and the conveyed workpiece is transferred to a receiving portion of the subsequent production device, for example, a holding device such as a hand or gripper of the latter production device. It is a workpiece transfer process such as holding (gripping).

  Conventionally, when a plurality of production apparatuses are connected to form a production apparatus, between the former stage and the latter stage production apparatus, for example, between the former stage and the latter stage production apparatus via a handshake that transmits and receives control signals and synchronization signals. Interlock (interlocking) control was performed.

  For example, in the configuration of Patent Document 1 below, adjacent automatic assembly apparatuses are connected by a hardware I / O interlock. Further, in the configuration of Patent Document 2 below, the devices in the previous stage to the subsequent stage communicate via the wireless LAN to perform the interlock control.

JP 04-305704 A JP 2010-12535 A

  When interlock control is performed via a hardware signal line as in the above-mentioned Patent Document 1, when configuring a production line, cable wiring is required between the production apparatuses in the preceding stage and the subsequent stage, and production is performed. There was a problem that the construction work of the line became complicated. In addition, if the hardware and software of the production equipment at the front and back stages need to be changed due to the reconfiguration of the production line, the cable wiring between the production equipment at the front and back stages may have to be changed. is there. Therefore, in the configuration as disclosed in Patent Document 1, the amount of work for designing or changing the production line is increased, and there is a possibility that a great amount of labor and work time may be required.

  On the other hand, in the configuration of Patent Document 2, since interlock control is performed using a wireless LAN or infrared rays, hardware wiring restrictions can be avoided. However, the configuration of Patent Document 2 is the same as that of Patent Document 1 in that it is premised on interlocking control by handshaking of control signals at the timing at which the production apparatuses in the previous stage to the subsequent stage should cooperate. Therefore, in the configuration of Patent Document 2, it is not necessary to maintain hardware wiring used for handshake communication of the production apparatus in the first to subsequent stages, and it is still necessary to implement handshake communication by wireless communication or the like. Also, if the software configuration for that purpose cannot be maintained and managed properly, the operation of the entire production line will fail and normal production processing will be impossible.

  In view of the above problems, an object of the present invention is to make it possible to exchange workpieces between the two without requiring handshaking communication between the production apparatuses in the first and second stages, regardless of wired communication or wireless communication. In particular, the production apparatuses in the first to second stages exchange work by their own independent control, and even if a part of the production line changes, it is flexible and does not require large-scale hardware or software changes. Make it possible to quickly reconfigure the production line.

  In order to solve the above problems, in the present invention, the first production device transfers the workpiece to the second production device, and the second production device transfers the workpiece from the first production device. In a production device line that includes a holding device for picking up and receives the workpiece from the first production device to the second production device in a workpiece transfer area, the workpiece holding state of the holding device of the second production device is A second sensor disposed in the second production apparatus that detects a first sensor disposed in the first production apparatus and a workpiece conveyance state by the conveyance apparatus of the first production apparatus; And the second production device is configured to pull the workpiece by the holding device according to a workpiece conveyance state by the conveyance device detected by the second sensor in the workpiece transfer area. The first production device adopts a configuration in which the workpiece conveying operation by the conveying device is terminated according to the workpiece holding state by the holding device detected by the first sensor in the workpiece transfer area. did.

  Further, in a production apparatus that includes a conveyance device that conveys a workpiece delivered to a holding device of a subsequent production apparatus and a holding device that collects a workpiece conveyed by the conveyance device of the previous production apparatus, the holding of the latter production apparatus A first sensor for detecting a workpiece holding state of the apparatus, a second sensor for detecting a workpiece conveyance state by the conveyance device of the preceding production apparatus, and detection states of the first sensor and the second sensor. And a control device that controls the holding device, and the control device uses the holding device in accordance with a workpiece transfer state detected by the second transfer device detected by the second sensor. The workpiece is picked up by the transfer device according to the workpiece holding state of the latter holding device detected by the first sensor. Employing the configuration to perform production control to terminate the feeding operation.

  According to the said structure, the 1st sensor which detects the workpiece | work holding state of the holding | maintenance apparatus of a back | latter stage production apparatus, and the 2nd sensor which detects the workpiece | work conveyance state by the conveying apparatus of a front | former stage production apparatus are used. Then, the workpiece take-up operation by the holding device is started in accordance with the workpiece conveyance state by the preceding conveyance device detected by the second sensor. Further, production control is executed to end the workpiece transfer operation by the transfer device in accordance with the workpiece holding state by the subsequent holding device detected by the first sensor. Accordingly, handshaking communication between the production apparatuses at the front stage and the rear stage is not required, and workpieces can be exchanged between the production apparatuses. The production equipment in the first to second stages exchanges workpieces by their own independent control. For example, even if a part of the production line is changed, it is flexible and does not require large-scale hardware or software modifications. Make it possible to quickly reconfigure the production line.

It is the perspective view which showed the structural example of the production apparatus in one Example of this invention. It is the perspective view which showed the production line comprised by arranging the production apparatus of FIG. 1 in series. It is explanatory drawing which showed the structure of FIG. 2 from the side. It is the block diagram which showed the structure of the control system of the production apparatus of FIG. It is the flowchart figure which showed an example of the workpiece transfer control in the production line comprised with the production apparatus of FIG. It is the flowchart figure which showed an example of the different workpiece transfer control in the production line comprised with the production apparatus of FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to embodiments shown in the accompanying drawings. The following embodiment is merely an example, and for example, a detailed configuration can be appropriately changed by those skilled in the art without departing from the gist of the present invention. Moreover, the numerical value taken up by this embodiment is a reference numerical value, Comprising: This invention is not limited.

<Example 1>
FIG. 1 shows an example of the configuration of a production apparatus 2 that can constitute a production apparatus line by arranging a plurality of arrangements as an embodiment of the present invention. The production apparatus 2 as shown in the figure may be provided as a product having a name such as “assembly robot cell”.

  The production apparatus 2 is configured by disposing a work operation unit that performs an assembly operation on the work 7 on a base 400 (base). The work operation unit may be composed of a multi-axis multi-joint robot such as a vertical or parallel configuration. In this embodiment, the work operation unit is held by an XY table 4 or a robot hand supported by the XY table 4. The apparatus 5 is configured.

  How to take the three axes (X, Y, Z) of the orthogonal coordinate system used for the control of the production apparatus 2 is arbitrary, but in FIG. 1, the three axes of this orthogonal coordinate system are shown on the left side of the figure. (X, Y, Z) is taken. The upper surface of the base 400 is arranged to take a posture parallel to the XY axes. Although not shown in FIG. 1 (FIG. 2 to be described later), the base 400 is installed on the installation floor surface at an appropriate arrangement height by means of a column or the like arranged at the lower part of the base 400.

  The holding device 5 is supported by the assembly head 51, and the positions of the assembly head 51 and the holding device 5 in the XY coordinate system are controlled by the XY table 4. The XY table 4 is configured as an orthogonal robot having an X table 42 and a Y table 41. The X table 42 and the Y table 41 are driven by an XY table driving unit 43. The X table 42 is supported on the Y table 41, and the position of the X table 42 on the Y coordinate axis is controlled by the Y table 41. The X table 42 moves the assembly head 51 that supports the holding device 5 along the X-axis direction, and determines its X coordinate.

  The XY table 4 operates so as to control the position of the holding device 5 in an XY plane parallel to the base 400 above the base 400 via, for example, the support columns 102 and 103.

  The X table 42 and the Y table 41 have a structure in which a slider portion that supports a member to be transferred is linearly moved on a linear guide member and positioned at coordinate positions on predetermined coordinate axes. An XY table constituting this kind of so-called orthogonal robot is sometimes called an XY stage, but for convenience, terms such as an XY table and an X (Y) table are used in this embodiment.

  The position on the Y coordinate of the X table 42 is determined by the Y table 41. The X table 41 determines the position of the holding device 5 on the X coordinate axis via the assembly head 51. Depending on the process to be executed by the production apparatus 2, a tool such as an electric screwdriver may be arranged on the assembly head 51 as a part of the work operation unit. In addition, a gripping device such as a hand or gripper of a type different from the holding device 5 may be separately arranged on the assembly head 51 depending on the work content. For example, the holding device 5 may be a holding device such as a suction (adsorption) device.

  In some cases, a Z-axis raising / lowering means is disposed between the assembly head 51 and the XY table 4 in order to raise and lower the assembly head 51. Such a configuration corresponds to, for example, an XYZ orthogonal robot that controls the position of the assembly head 51 in the XYZ orthogonal coordinate system. In this configuration, for example, the assembly head 51 is moved up and down in the Z-axis direction to control the positional relationship between the work 7 and the assembly head 51 on the work table 62 described later.

  On the other hand, in this embodiment, no Z-axis lifting means is provided between the assembly head 51 and the XY table 4, and the Z-axis direction from the base 400 to the assembly head 51 suspended by the XY table 4 is provided. The height of is fixed. In this embodiment, the relative position of the work table 62 and the assembly head 51 is adjusted by moving the work table 62 side up and down in the Z-axis direction and moving the work table 62 close to and away from the assembly head 51 from below. .

  As described above, in this embodiment, the work table 62 is moved up and down in the Z-axis direction necessary for adjusting the relative positions of the holding device 5 as the work operation unit and the work table 62 instead of moving up and down the assembly head 51. Realized by moving up and down.

  Thereby, the Z-axis lifting device is excluded from the members suspended by the XY table 4, and the total weight of the XY table 4 suspended can be reduced. As a result, it is necessary to control the position and orientation of the XY table 4 itself, and the design conditions related to the strength and rigidity of the XY table 4 that must accurately control the position of the assembly head 51 can be relaxed. For this reason, for example, the structure above the columns 102 and 103 can be reduced in weight and simplified. Further, in the strength and rigidity of the same XY table 4, there is a possibility that vibration and noise during operation can be reduced, and there is an advantage that the accuracy of position control of the assembly head 51 and the holding device 5 can be improved.

  In FIG. 1, the holding device 5 is a gripping device such as a hand or a gripper as described above, and picks up and holds a work target workpiece 7 conveyed as described later from the production device module in the preceding step. To be placed on the work table 62. The holding device 5 is also used for the work of holding the second work table 72 arranged on the right side of the base 400 and the assembly component 71 on the supply tray 70 and assembling the work part on the work table 62. .

  In the present embodiment, as described above, no elevating means in the Z-axis direction is provided on the XY table 4 to assembly head 51 to holding device 5 side. For this reason, in the work using the above-described holding device 5, it is necessary to dispose elevating means in the Z-axis direction at least on the work tables 62 and 72 or the supply tray 70 side.

  For example, the work table 62 is supported by the X table 31 constituting the transport device 3 via the support portions 33 and 61. Further, for example, a Z-axis actuator 32 is disposed under the L-shaped support portion 33 as a lifting drive device for lifting the work table 62 in the Z-axis direction.

  Note that the Z-axis actuator 32 is, for example, in a configuration in which the work table 62 is supported so as to slide along the transport device 3 (X table 31) via the support portion 33, and the transport device 3 (X table 31). Arranged between work tables 62. Further, the Z-axis actuator 32 may be disposed so as to move the transport device 3 (X table 31) supporting the work table 62 up and down in the Z-axis direction. In the configuration illustrated in FIG. 3, which will be described later, the Z-axis actuator 32 is provided below the transport device 3 (X table 31) that supports the work table 62, and the transport device 3 (X table) that supports the work table 62. 31) is configured to move up and down in the Z-axis direction. As described above, the configuration (Z-axis actuator 32) for moving the work table 62 up and down for assembly and workpiece transfer is arbitrary, and various design changes can be made by those skilled in the art.

  In addition, regarding the supply tray 70 and the work table 72, similar Z-axis actuators 75 and 76 are disposed below the supply tray 70 and the work table 72 in order to raise and lower them in the Z-axis direction. The work table 72 is used as a second work table in the case where it is necessary to perform a preparatory or subsidiary work process on the assembly component 71 assembled to the work 7. Each of the Z-axis actuators 32, 75, and 76 may be further provided with a mechanism for rotating these Z-axis lifting shafts around the Z-axis. With such a configuration, the postures of the work tables 62 and 72 and the supply tray 70 around the Z axis can be controlled.

  For example, the work table 62 is a main work table for handling the work 7 and can be carried inside the work transfer area (10: described later) on the base of the subsequent production apparatus by the X table 31 of the transfer device 3. It is configured.

  At the position of the support portion 61 of the work table 62, for example, the work table camera 6 is mounted with the photographing optical axis directed toward the work table 62. The worktable camera 6 is configured by, for example, a digital camera that captures an image around the worktable 62 as a still image (or a moving image). Further, when the holding device 5 of the production apparatus and the work table 62 are carried into the subsequent production apparatus on the work table 62, the holding state of the workpiece 7 by the holding apparatus 5 of the latter production apparatus is detected. A holding state sensor 9 is provided for this purpose. The holding state sensor 9 is a reflection type or transmission type sensor including a transmission unit 91, a reception unit 92, and the like. The holding state sensor 9 is, for example, an optical reflection type or transmission type photosensor. Laser light or infrared light can be used as the detection light of the holding state sensor 9. Alternatively, the holding state sensor 9 may be constituted by not only a photo sensor but also a sensor of another detection method, for example, a proximity sensor using magnetism, ultrasonic waves, radio waves, or the like.

  The work table camera 6 and the holding state sensor 9 are sensors for detecting the work state on the work table 62 and the holding state of the work 7 by the holding device of this production apparatus or the holding apparatus 5 of the production apparatus at the subsequent stage ( Used as a first sensor).

  After the work process of the production apparatus in FIG. 1 is completed, the work table 62 on which the work 7 is mounted is the rear production apparatus arranged in the positive direction of the X axis in the drawing by the transfer device 3 (X table 31). It is carried into the workpiece transfer area 10 on the base 400.

  The conveyance device 3 (X table 31) may be fixedly disposed so as to straddle the main production device and the base of the subsequent production device (for example, the state shown in FIGS. 1 and 2). Alternatively, the transfer device 3 (X table 31) can be expanded or contracted or moved by an appropriate driving means, and extended to the base of the subsequent production device (for example, to the state shown in FIGS. 1 and 2) at a necessary timing. You may comprise.

  In any case, the work table 62 is carried along the X table 31 of the transport apparatus 3 onto the base of the subsequent production apparatus by a drive source (not shown). For example, it is driven to slide along the X table 31 of the transport device 3 via the support portions 33 and 61, or is carried onto the base of the production device at the subsequent stage according to the expansion or contraction or movement of the X table 31. Is done.

  In the production apparatus of FIG. 1, the workpiece transfer area 10 corresponds to a space in the rear (X axis negative) direction with respect to the X axis of the transport apparatus 3 (X table 31). In this embodiment, the production apparatuses (2a, 2b, 2c, or 2d) are arranged in series as shown in FIG. It is necessary to carry the work 7 mounted on the work table 62 to the work transfer area 10 by the transfer device 3 (X table 31) of the production apparatus in the previous stage. For this reason, the workpiece transfer area 10 is defined as a space area in which the transport device 3 (X table 31) of the production apparatus, the work tables 62 and 72, the supply tray 70, and the like are not disposed.

  Conventionally, when the workpiece 7 is transferred to the subsequent production apparatus, a handshake is performed between the present production apparatus and the subsequent production apparatus by transmitting and receiving control signals. However, the present embodiment is configured to eliminate the need for handshaking (communication) between at least the production apparatus related to the workpiece transfer and the subsequent production apparatus.

  For this reason, a conveyance state sensor 8 (first sensor) is arranged on the base 400 in order to detect the conveyance state of the work 7 by the work table 62 and the conveyance device 3 (X table 31). The conveyance state sensor 8 can be configured by an imaging device, a proximity sensor, and the like, similarly to the work table camera 6 and the holding state sensor 9 described above.

  The conveyance state sensor 8 is configured to detect at least that the conveyance device 3 (X table 31) of the production device 2 at the preceding stage has caused the work table 62 or the workpiece 7 to enter the workpiece transfer area 10. By detecting that the work table 62 or the work 7 in the previous stage has entered the work transfer area 10 by the transport state sensor 8, for example, the production apparatus 2 in the (rear stage) moves the holding device 5 to the work transfer area 10. The workpiece transfer operation can be started.

  Further, the conveyance state sensor 8 is preferably configured so that the production apparatus 2 in the previous stage causes the workpiece 7 to be transferred to the workpiece transfer position HP by the transfer device 3 or the Z-axis actuator 32 and the work table 62 in the workpiece transfer area 10 (FIG. 3). It is configured so that it can be detected that it has been conveyed (raised). In this way, the conveyance state sensor 8 detects the conveyance state that the preceding stage workpiece 7 has been conveyed to the workpiece transfer position HP (FIG. 3), so that the workpiece transfer operation is particularly held by the holding device 5 ( (Gripping) operation can be started.

  FIG. 2 shows a production line 1 in which a plurality (4) of the production apparatuses 2 of FIG. 1 are arranged in series in the X-axis direction. FIG. 3 schematically shows a configuration equivalent to FIG. 2 from the side of FIG. 2 (from the negative to positive direction of the Y axis). In FIG. 2 and FIG. 3, in order to distinguish the four production apparatuses, the reference numerals in FIG. 1 are appended with the suffixes a, b, c, and d to indicate corresponding parts. The members having the reference numerals with the subscripts a, b, c, d are the same as (or similar to) those in FIG. 1 using the reference numerals without the subscripts. Then, the duplicate description is omitted.

  Below, it demonstrates centering on the operation | movement which conveys the workpiece | work 7 with respect to the production apparatuses 2a-2b, and gives / receives. 2 and 3, the work process for the work 7 (7a to 7d) starts from the production apparatus 2d at the front stage of the production apparatus 2a, and thereafter, the work 7 is sequentially delivered to the production apparatuses 2a, 2b, and 2c and proceeds. It shall be In this embodiment, FIG. 2 and FIG. 3 show only four production apparatuses 2a, 2b, 2c and 2d as an example, and the number of production apparatuses constituting the production line 1 is limited by FIG. It is not a thing. The transfer control of the workpiece (7) shown below can be performed if at least two production apparatuses having the configuration as shown in FIG. 1 are arranged adjacently in series.

  2 and 3, the transfer device 3d, the transfer device 3a, the transfer device 3b,... Of the production devices 2d, 2a, 2b... Are shown in a state of entering the subsequent workpiece transfer areas 10a, 10b, 10c,. Yes.

  In addition, as above-mentioned, the mounting form of each conveying apparatus (3d, 3a-3c) may be fixed between each production apparatus, and the system which expands / contracts or moves may be sufficient. However, in the following, for ease of explanation, for example, it is assumed that each of these transport apparatuses is fixed at the positions of FIGS. 2 and 3 in the X-axis direction.

  In FIG. 3, the transport positions of the workpieces 7a to 7c and the positions of the holding devices 5a to 5c are illustrated at different control timings in each production apparatus. These positions will be appropriately referred to in the description of the workpiece transfer control described later. 3, in the workpiece transfer areas 10a, 10b, 10c... Of the production apparatuses 2a to 2c, the positions at which the workpieces 7d, 7a, and 7b are held (gripped) by the holding devices 5a to 5c are particularly the workpiece transfer positions HP. (Illustrated by black circles).

  In particular, in FIG. 3, the production apparatus 2b is shown in a state in which the work 7b is carried into the work transfer area 10c of the production apparatus 2c by the transfer device 3b and the work table 62b. At this time, the Z-axis actuator 32b is at the lowest position, and the workpiece 7b has not yet been raised to the workpiece transfer position HP.

  In FIG. 3, the production apparatus 2d is similarly shown in a state in which the work 7d is carried into the work transfer area 10a of the production apparatus 2a by the transfer device 3d and the work table 62d. Here, similarly, the workpiece 7a is not raised to the workpiece transfer position HP, but the holding device 5a of the production apparatus 2a is moved to the workpiece transfer position HP. If the workpiece 7d is in the workpiece transfer position HP in this state, the workpiece 7d can be gripped by driving, for example, the gripping claws of the holding device 5a.

  Further, in FIG. 3, the production apparatus 2a is similarly shown in a state where the work 7a is carried into the work transfer area 10b of the production apparatus 2b by the transfer device 3a and the work table 62a. The control state of the production apparatus 2a corresponds to the state immediately before the work 7a is held (gripped) by the holding device 5b following the control state of the production apparatus 2d. That is, the Z-axis actuator 32a raises the workpiece 7a to the workpiece transfer position HP via the transfer device 3a and the work table 62a. Prior to this, the holding device 5b has been moved to the workpiece transfer position HP. From this state, the work 7a is held by driving the holding device 5b, and the work 7a is delivered from the production device 2a to 2b.

  The X tables 31d and 31a to 31c of the transport apparatuses 3d and 3a to 3c are configured to be able to move the work tables 62d, 62a, 62b, and 62c in the X-axis direction by the driving force of a driving source (not shown). . In the configuration of FIG. 3, as described above, the (first) transport state sensor 8 (8d, 8a to 8c...) Is a workpiece (7d, 7a, 7b) by the transport devices (... 3d, 3a to 3c) of the preceding stage. ...) is detected. These conveyance state sensors 8 (8d, 8a to 8c...) Indicate that the workpiece (7d, 7a, 7b...) Has entered the workpiece transfer area 10 by the work table 62 (62d, 62a, 62b. Configured to be detectable. Further, the conveyance state sensor 8 (8d, 8a to 8c...) Can detect that the workpiece (7d, 7a, 7b...) Has been moved to the workpiece transfer position HP. The outputs of these (first) transport state sensors 8d, 8a to 8c are control units (described later) of the production apparatuses 2d, 2a, 2b, and 2c, as indicated by the subscripts d, a, b, and c, respectively. Is input.

  Also, as shown in FIG. 3, the Z-axis actuators 32d, 32a, 32b, and 32c move the transport devices 3d and 3a to 3c that support the work tables 62d, 62a, 62b, and 62c themselves in the Z-axis direction. Composed.

  Further, in the illustration of FIG. 3, the arrangement of the work table cameras 6d, 6a, 6b, 6c and the holding state sensors 9d, 9a, 9b, 9c as (second) sensors for detecting the workpiece holding state of the holding device is also illustrated. The example of 1 is slightly changed. In the following, in order to facilitate the explanation regarding the transfer of workpieces between the production apparatuses at the front stage and the rear stage, the work table cameras 6d, 6a, 6b, 6c and the holding state sensors 9d, 9a, 9b, 9c are transferred to the transport apparatuses 3d, 3a. Illustrated at the tip position of ~ 3c.

  The work table cameras 6d, 6a, 6b, 6c of the production apparatuses 2d, 2a, 2b, 2c and the holding state sensors 9d, 9a, 9b, 9c are respectively the holding apparatuses 5a, 5b of the production apparatuses 2a, 2b, 2c,. It functions as a (second) sensor that detects the workpiece holding state of 5c. In order to realize at least this function, the work table cameras 6d, 6a, 6b, 6c and the holding state sensors 9d, 9a, 9b, 9c are, for example, arranged at the tip of the transport devices 3d, 3a-3c as shown in FIG. It may be fixedly arranged at the position.

  Of course, as indicated by the subscripts a, b, c and d, the outputs of the worktable cameras 6d, 6a, 6b and 6c and the holding state sensors 9d, 9a, 9b and 9c are the production apparatuses 2d, 2a and 2b, respectively. 2c is input to a control unit (described later).

  When the production apparatuses 2d, 2a, 2b, and 2c exchange workpieces with the subsequent production apparatuses, as shown in FIG. 3, the work tables 62d, 62a, 62b, and 62c are replaced with the production apparatuses 2a, 2b, 2c,. Are transferred into the workpiece transfer areas 10a, 10b, 10c.

  In the state of FIG. 3, it has entered the work areas 62d, 62a, 62b, 62c transfer areas 10a, 10b, 10c... Holding the works 7d, 7a, 7b, 7c of the production apparatuses 2d, 2a, 2b, 2c, It operates in the movable areas 11d, 11a, 11b, 11c. On the other hand, the space in which the XY tables 4a, 4b, 4c,..., Which are assembly mechanisms of the production apparatuses 2a, 2b, 2c,... On the side that takes the workpieces 7d, 7a, 7b, 7c operate is movable regions 12a, 12b, 12c. ...

  As shown in FIG. 3, when the work tables 62d, 62a, 62b, and 62c are moved into the production apparatuses 2a, 2b, 2c, and so on, the movable areas 11d, 11a, 11b, and 11c and the movable areas 12a, 12b, 12c overlap in the workpiece transfer areas 10a, 10b, 10c. In other words, the workpiece transfer areas 10a, 10b, 10c... In this embodiment are spaces extending in the Z-axis direction where the movable areas 11d, 11a, 11b, 11c and the movable areas 12a, 12b, 12c. It is.

  In this state, the Z-axis actuators 32d, 32a to 32c raise the conveying devices 3d, 3a to 3c in the transfer areas 10a, 10b, 10c. Further, the rear holding devices 5a, 5b, 5c,... Are moved from the position of FIG. As a result, the workpieces 7d, 7a, 7b,... Can be delivered to the production apparatuses 2a, 2b, 2c,.

  That is, the work tables 62d and 62a to 62c are raised in the transfer areas 10a, 10b, 10c. Further, the holding devices 5a, 5b, 5c... On the side for picking up the workpiece and the rear stage are moved from the position in FIG. 3 into the transfer areas 10a, 10b, 10c. Thereby, the workpieces 7d, 7a, 7b, 7c are held by the holding devices 5a, 5b, 5c. In this way, the workpieces 7d, 7a, 7b, 7c can be delivered to the holding devices 5a, 5b, 5c,.

  Here, FIG. 4 shows a configuration example of the control device 600 of the production apparatus shown in FIGS. In FIG. 4, as in FIG. 1, the configuration of each part is shown without using the suffixes a to d used in FIGS. 2 to 3. As shown in the figure, the control device 600 includes a CPU 601, a ROM 602, a RAM 603, an HDD 604, and various interfaces 606 to 608.

  Connected to the CPU 601 are a ROM 602, a RAM 603, an HDD 604, and various interfaces 606 to 608. The ROM 602 stores basic programs such as BIOS. The RAM 603 is a storage device that temporarily stores the calculation processing result of the CPU 601.

  The HDD 604 is not indispensable for this type of production apparatus module, but when arranged, the HDD 604 constitutes a storage unit that stores various types of data that are the results of arithmetic processing by the CPU 601. Further, the HDD 604 can store a file in which a program for causing the CPU 601 to execute various arithmetic processes is recorded. The CPU 601 executes a workpiece transfer control procedure described later based on a program recorded (stored) in the ROM 602 or the HDD 604.

  When a program for executing a work transfer control procedure described later is recorded (stored) in the ROM 602 or the HDD 604, these recording media constitute a computer-readable recording medium storing a control procedure for carrying out the present invention. Note that a program for executing a work transfer control procedure described later is stored in a fixed recording medium such as the ROM 602 or the HDD 604, or a removable computer readable recording such as various flash memories or optical (magnetic) disks. It may be stored on a medium. Such a storage form can be used when a program for executing a work transfer control procedure is installed or updated in each production apparatus constituting the production apparatus line implementing the present invention. In addition, when installing or updating a program for executing the work transfer control procedure, in addition to using the removable recording medium as described above, there is a method of downloading the program via the network (609) as will be described later. Available.

  The CPU 601 can acquire the detection states of the worktable camera 6, the holding state sensor 9, and the (second) transport state sensor 8 that constitute the first sensor described above via the interface 606. Further, the CPU 601 controls operations of the transport device 3, the XY table 4, and the holding device 5 via the interface 607. Although details are not shown, the interface 607 may include a drive source of the transport device 3, the XY table 4, and the holding device 5, for example, a servo control device that controls the operation of the motor. These interfaces 606 and 607 can be configured based on various serial or parallel interface standards, for example. Further, the interfaces 606 and 607 may be configured by a wireless communication interface as well as a wired connection.

  Furthermore, the control device 600 can be connected to a network 609 for controlling the production line (1: FIG. 1) via the network interface 608. The network 609 is configured so that connected devices can communicate using a protocol such as TCP / IP. The CPU 601 can transmit the operation information to the server that manages the production line (1: FIG. 1) via the network 609, for example. Alternatively, a control program related to production control described later can be downloaded from the server and installed in the ROM 602 or the HDD 604, or an already installed program can be updated to a new version. Although it is possible to communicate between the production apparatuses shown in FIGS. 1 to 3 via the network 609, in the present embodiment, such communication is performed at least with respect to workpiece transfer control between the production apparatuses. Absent.

  Next, production processing in a production line configured using the above production apparatus will be described.

  FIG. 5 shows workpiece transfer control in the production line shown in FIGS. The example of FIG. 5 shows the workpiece transfer control of the production apparatus 2a and the production apparatus 2b in FIGS. The left column (La1 to La2) in FIG. 5 shows the processes of the production apparatus 2a, and the right column (Lb1 to Lb2) in FIG. 5 shows the processes of the production apparatus 2b. These processes are performed by the CPUs 601 of the production apparatuses 2a and 2b (FIG. 4). ).

  The control of the production apparatus 2a in the left column (La1 to La2) in FIG. 5 includes control (S107 to S112) when the workpiece 7a is delivered to the subsequent production apparatus 2b. In the right column of FIG. 5 (Lb1 to Lb2), the control of the production apparatus 2b includes control (S201 to S206) when the workpiece 7a is taken from the production apparatus 2a in the previous stage. Further, the control of the production apparatus 2a in the left column (La1 to La2) in FIG. 5 includes control (S101 to S106) when the work 7d is taken from the production apparatus 2d in the previous stage. Further, in the right column (Lb1 to Lb2) in FIG. 5, the control of the production apparatus 2b includes control (S207 to S212) when the workpiece 7b is delivered to the production apparatus 2c at the subsequent stage. In the two rows on the left and right of FIG. 5, in particular, the timing of the step of transferring the workpiece 7 a between the production apparatus 2 a and the production apparatus 2 b is illustrated so that the upper and lower positions in FIG. is there.

  5, as described with reference to FIG. 3, the transfer devices 3 d, 3 a to 3 c... Of each production device are fixedly arranged between the production devices, and the work tables 62 d and 62 a to 62 c. Is premised on a configuration that enters and retracts into the production apparatus at the subsequent stage. In this case, as shown in FIG. 3, the work table cameras 6d, 6a to 6c and the holding state sensors 9d, 9a to 9c... Constituting the first sensor enter the workpiece transfer areas 10a to 10c. Are arranged in the tip region of the transport devices 3d, 3a, 3b.

  In the following, in particular, the production device 2a is associated with the first production device on the side of delivering the workpiece 7a, and the production device 2b is associated with the second production device on the side of taking up the workpiece 7a, and these first and second production devices. The work transfer control between the two will be explained. These first production apparatus and second production apparatus are each controlled by the control system shown in FIG. For example, the CPU 601 (or its peripheral members) in FIG. 4 corresponds to the first control device and the second control device in the first production device and the second production device, respectively.

  In the left column (La1) of FIG. 5, in step S107, the CPU 601 of the production apparatus 2a holds the work 7a for which the work in the production apparatus 2a has been completed on the work table 62a. Subsequent step S108 indicates a standby state of the workpiece transfer, and this standby state (S108) is continued until affirmative determination is made in step S109.

  In step S109, the CPU 601 of the production apparatus 2a checks the detection state of the worktable camera 6a. As shown in FIG. 3, the worktable camera 6a is in the workpiece transfer area 10b of the subsequent production apparatus 2b, and can detect whether the holding device 5b of the subsequent production apparatus 2b is in the workpiece transfer area 10b. it can. This holding device 5b can be implemented by the CPU 601 of the production apparatus 2a performing, for example, an image (pattern) recognition process on a captured image of the worktable camera 6a.

  In step S109, the CPU 601 of the production apparatus 2a waits for step S108 until it is detected via the detection state of the worktable camera 6a that the holding device 5b of the subsequent production apparatus 2b is within the workpiece transfer area 10b. Let the state continue. Note that the state of the production apparatuses 2a and 2b in FIG. 3 is a state in which the holding apparatuses 5a and 5b to be detected in step S109 have been moved to the positions of the upper spaces in the workpiece transfer areas 10a and 10b. In this state, if the workpiece (7d, 7a) is present at the workpiece transfer position HP, the workpiece can be held immediately after the holding device (5a, 5b) is driven. When this state is detected in step S109, the CPU 601 of the production apparatus 2a advances the control from step S109 to S110.

  In step S110, the CPU 601 of the production apparatus 2a moves the work 7a mounted on the work table 62a to the production apparatus 2b side by the transfer device 3a and enters the work transfer area 10b. Further, after the work 7a mounted on the work table 62a has entered the work transfer area 10b, the holding device 5b composed of a hand, a gripper and the like is further mounted on the work table 62a up to a work transfer position HP at a height that can hold the work 7a. The workpiece 7a is lifted. In the configuration shown in FIG. 3, this operation is performed by raising the transport device 3a by the Z-axis actuator 32a. As shown in FIGS. 1 to 3, the above-described operation is performed in a configuration in which the holding device 5b does not have a lifting function in the Z-axis direction. Note that step S110 corresponds to a loading step of loading the workpiece (7a) by the transfer device (3a) inside the workpiece transfer area (10b).

  In FIG. 3, the state of the production apparatus 2a is a state in which the workpiece 7a mounted on the work table 62a is raised to the workpiece transfer position HP. If the holding device 5b is driven by the production device 2b in this state, the workpiece 7a can be held immediately. The control (steps S201 to S206) on the production apparatus 2b side will be described later.

  Subsequently, in step S111, the CPU 601 of the production apparatus 2a waits for the holding apparatus 5b of the subsequent production apparatus 2b to hold the workpiece 7a while monitoring the output of the holding state sensor 9a. In the configuration of FIG. 3, the holding state sensor 9a is in the workpiece transfer area 10b and can detect whether or not the holding device 5b of the production apparatus 2b in the subsequent stage holds (for example, holds) the workpiece 7a. Here, according to the detection result of the holding state sensor 9a, when it is confirmed that the holding device 5b of the subsequent production apparatus 2b holds the workpiece 7a, the CPU 601 of the production apparatus 2a advances the control to step S112.

  After the holding device 5b of the subsequent production apparatus 2b holds the workpiece 7a, the work table 62a can be retracted from the workpiece transfer area 10b. That is, in step S112, the CPU 601 of the production apparatus 2a controls the Z-axis actuator 32a, and lowers the work table 62a together with the transfer apparatus 3a from the workpiece transfer position where the workpiece 7a is held by the subsequent holding device 5b. Further, the transfer device 3a is driven to retract the work table 62a from the workpiece transfer area 10b and return to the holding device 5a (on the base 400).

  Steps S111 and S112 correspond to a conveyance end control process for ending the workpiece conveyance of the conveyance device 3a according to the detection result of the workpiece holding state by the first sensor (holding state sensor 9a).

  On the other hand, the control of the production apparatus 2b in cooperation with the control of the production apparatus 2a is steps S201 to S206 in the right column (Lb1) in FIG.

  First, in step S201, the CPU 601 of the production apparatus 2b drives the XY table 4b to cause the holding device 5b to enter the workpiece transfer area 10b.

  Subsequently, in step S202, the CPU 601 of the production apparatus 2b monitors the detection result of the transfer state sensor 8b, and the transfer state of the workpiece 7a, that is, the entry of the workpiece 7a into the workpiece transfer area 10b, and the transfer of the workpiece 7a. Wait for movement to position HP. Specifically, in step S202, the transfer device 3a of the production apparatus 2a waits for the workpiece 7a mounted on the work table 62a to enter the workpiece transfer area 10b and further raise the workpiece 7a to the workpiece transfer position HP.

  As described above, in this embodiment, the workpiece transfer operation on the workpiece pickup side is performed not by the handshake of the control signal but by monitoring the workpiece conveyance state of the conveyance device 3a of the production apparatus 2a by the conveyance state sensor 8b. . When the transport device 3a of the production apparatus 2a in the previous stage enters the work 7a mounted on the work table 62a into the work transfer area 10b and further moves up to the work transfer position HP, the CPU 601 of the production apparatus 2b advances the control to step S203. .

  In step S203, the CPU 601 of the production apparatus 2b drives the holding device 5b to hold and pick up the workpiece 7a that has arrived at the workpiece transfer position HP. Here, the CPU 601 of the production apparatus 2b controls the operating conditions such as the finger opening degree of the holding device 5b according to the dimensions of the work 7a, and holds the work 7a by the holding device 5b.

  Steps S202 and S203 correspond to a holding control step of starting the workpiece holding operation of the holding device according to the detection result of the workpiece conveyance state by the second sensor (conveyance state sensor 8b).

  Subsequently, as shown in step S112 described above, a phase for ending the workpiece transfer operation is started on the production device 2a side in accordance with the holding operation of the workpiece 7a by the holding device 5b. That is, the production apparatus 2a lowers the work table 62a together with the transfer device 3a from the work transfer position, and further retracts the work table 62a from the work transfer area 10b and returns it to the holding device 5a (on the base 400). In step S204, the CPU 601 of the production apparatus 2b monitors the output of the sensor 8b, and waits for the production apparatus 2a to unload the work table 62a from the workpiece transfer area 10b by the transfer apparatus 3a. When the production apparatus 2a retracts the work table 62a from the workpiece transfer area 10b by the transport apparatus 3a, the CPU 601 of the production apparatus 2b advances the control to step S205.

  In step S205, the CPU 601 of the production apparatus 2b drives the XY table 4b and can transfer the holding apparatus 5b holding the work 7a from the work transfer area 10b to, for example, the work table 62b of the production apparatus 2b. Move)

  In step S206, the CPU 601 of the production apparatus 2b moves the workpiece 7a from the holding device 5b to the work table 62b. Here, the XY table 4b is driven to align the XY coordinates of the holding device 5b and the work table 62b, the Z-axis actuator 32b at the lower part of the transport device 3b is controlled, and the work 7a is moved from the work device 62b to the work table 62b. Raise to the highest possible height. Then, the holding (gripping) operation of the holding device 5b is released at a predetermined position on the work table 62b. In this way, the workpiece 7a can be transferred from the holding device 5b to the work table 62b. The positioning of the workpiece 7a on the work table 62b is appropriately performed by a restricting means using an abutment jig, a spring, a solenoid, or the like (all not shown in detail) arranged on the work table 62b.

  As described above, the workpiece (7a) transfer operation from the former (first) production apparatus 2a to the latter (second) production apparatus 2b can be performed. The second production device 2b starts the workpiece take-up operation by the holding device 5b in accordance with the workpiece conveyance state detected by the second sensor (conveyance state sensor 8b) in the workpiece transfer area 10b. Further, the first production device 2a is configured to perform a workpiece transfer operation by the transfer device according to the workpiece holding state by the holding device 5b detected by the first sensor (workbench camera 6a or holding state sensor 9a) in the workpiece transfer area 10b. End. By performing such workpiece transfer control, the workpiece (7a) transfer operation of this embodiment does not require a handshake of the control signal, and a hardware signal line is laid between the preceding and succeeding production apparatuses. There is no need to do. Naturally, it is not necessary to implement a communication protocol for performing a handshake of control signals in the control system as shown in FIG. The workpiece transfer control procedure can be implemented independently in the former or subsequent production apparatus based on the detection states of the first sensor (conveyance state sensor) and the second sensor (holding state sensor). That's fine. Therefore, according to the present embodiment, there is an advantage that the production apparatus, and hence the production line constituted thereby, can be constructed simply and inexpensively.

  Note that FIG. 5 includes control in which the production apparatus 2b delivers the workpiece 7b to the production apparatus 2c (S207 to S212) and control in which the production apparatus 2a takes the workpiece from the production apparatus 2d (S101 to S106). . The delivery control (S207 to S212) of the production device 2b and the delivery control (S101 to S106) of the production device 2a are respectively the delivery control (S107 to S112) of the production device 2a and the delivery control (S201) of the production device 2b. To S206). That is, by simply replacing the step numbers in the 100s and the alphabetic suffixes indicating the production apparatus, the above description is the same as the delivery control of the production apparatus 2b (S207 to S212) and the delivery control of the production apparatus 2a (S101 to S101). S106). Therefore, the redundant description about the delivery control (S207 to S212) of the production apparatus 2b and the delivery control (S101 to S106) of the production apparatus 2a is omitted here.

<Example 2>
In the first embodiment, in the workpiece transfer control shown in FIG. 5, controls like steps S108 to S110 and steps S208 to S210 are performed. That is, in this control, after confirming that the holding devices 5b and 5c on the receiving side of the subsequent stage have moved to the workpiece transfer area 10, the workpieces 7a and 7b are carried from the preceding stage to the subsequent manufacturing apparatus. Yes.

  However, the workpiece transfer area 10 of the production apparatus 2 of the present embodiment is a space extending in the Z-axis direction, and the workpieces 7a and 7b are loaded in advance by the work table 62, and the holding devices 5b and 5c are transferred to the workpiece transfer area 10. You can also wait until you move to. By performing such control, the work efficiency of workpiece transfer can be improved and the production process can be speeded up.

  FIG. 6 shows a flow of workpiece transfer control of the production apparatuses 2a and 2b in the same format as FIG. The control in FIG. 6 can be performed in the same hardware configuration as that shown in FIGS.

  Also in the control of FIG. 6, the conveyance state sensor 8 (8d, 8a to 8c) not only detects the conveyance state of the work table 62 or the workpiece 7 in the X-axis direction of the preceding production apparatus, but preferably in the Z-axis direction. The work table 62 to the work 7 is detected. That is, the conveyance state sensor 8 (8d, 8a to 8c) can detect the entry of the preceding work 7 into the work transfer area 10 and the movement of the work 7 to the work transfer position HP. The conveyance state sensor 8 (8d, 8a to 8c) includes, for example, an imaging device similar to the work table camera 6, a proximity sensor using ultrasonic waves, laser light, or the like, as described above.

  6, the same step numbers are used for the same or equivalent processing steps as in FIG. 5, and in the following, redundant description of the processes with the same step numbers as those in FIG. 5 will be omitted.

  The control of FIG. 6 differs from FIG. 5 in the processing steps with step numbers after the alphabets p and q. These are steps S110p, S110q, S112p, S102p for the production apparatus 2a, and steps S210p, S210q, S212p, S202p for the production apparatus 2b.

  In the following, workpiece transfer control including processing steps different from those in FIG. 5 will be described taking transfer of workpieces between the production apparatuses 2a to 2b as an example.

  In FIG. 5 of the first embodiment, the processes in steps S110 and S210 in which the production apparatuses 2a and 2b approach the holding devices 5b and 5c in the subsequent stage so as to deliver the workpieces 7a and 7b are the processes in steps S109 and S209 in FIG. It is distributed before and after. That is, these are steps S110p and S110q and steps S210p and S210q arranged before and after steps S109 and S209.

  In step S110p of FIG. 6, the CPU 601 of the production apparatus 2a horizontally moves the work table 62a holding the work 7a in step S107 by the X table 31a of the transfer apparatus 3a and enters the production apparatus 2b in the subsequent stage. That is, the work table 62a on which the work 7a is mounted is moved horizontally by the X table 31a of the transfer device 3a, enters the work transfer area 10b of the production device 2b at the subsequent stage, and waits at that position. This operation is executed without waiting for the holding devices 5b and 5c on the side receiving the subsequent work to move to the work transfer area 10 as shown in FIG. At this time, the CPU 601 of the production apparatus 2a controls the Z-axis actuator 32a to a height (for example, the minimum height) at which the work table 62a or the work 7a mounted does not interfere with the holding device 5b, for example. In FIG. 3, the state of the production apparatus 2 b corresponds to a state where the work table (62 b) enters the work transfer area (10 c) of the subsequent production apparatus (2 c) and waits at that position. .

  Subsequently, in step S109, the CPU 601 of the production apparatus 2a monitors the detection state of the worktable camera 6a as in the case of FIG. 5, and the holding apparatus 5b of the production apparatus 2b at the subsequent stage causes the workpiece transfer area 10b, particularly the workpiece to be transferred. Wait for it to move to a position directly above the transfer position HP.

  On the production apparatus 2b side, when the workpiece can be picked up by completing the process on the production apparatus 2b side, the holding device 5b is moved to the workpiece transfer area 10b by the XY table 4b in step S201. At this time, the CPU 601 of the production device 2b controls the XY coordinates of the holding device 5b to the same XY coordinates as the workpiece transfer position HP so that the workpiece approaching the workpiece transfer position HP from below can be held by the XY table 4b.

  In step S109, when it is confirmed that the holding device 5b of the production apparatus 2b has moved to the workpiece transfer area 10b as described above via the work table camera 6a, the CPU 601 of the production apparatus 2a moves the control to step S110q.

  In step S110q, the CPU 601 of the production apparatus 2a drives the Z-axis actuator 32a to vertically raise the workpiece 7a mounted on the work table 62a to the workpiece transfer position HP. At this time, the XY coordinates of the holding device 5b are controlled to the XY coordinates of the workpiece transfer position HP as described above.

  Therefore, in step S202p, the CPU 601 of the production apparatus 2b monitors the output state of the conveyance state sensor 8b, the conveyance apparatus 3a of the production apparatus 2a raises the work table 62a in the Z-axis direction, and the workpiece 7a moves to the workpiece transfer position HP. Wait to move on. When the workpiece 7a moves to the workpiece transfer position HP, the CPU 601 of the production apparatus 2b shifts control to step S203.

  In step S203, the CPU 601 of the production apparatus 2b drives the holding device 5b, holds (holds) the workpiece 7a by the holding device 5b, and takes it out.

  On the other hand, in step S111, the CPU 601 of the production apparatus 2a monitors the output of the holding state sensor 9a, waits for the holding apparatus 5b of the subsequent production apparatus 2b to hold the work 7a, and the holding apparatus 5b holds the work 7a. If held, control proceeds to step S112p.

  In step S112p, the CPU 601 of the production apparatus 2a vertically lowers the work table 62a by the Z-axis actuator 32. Further, the work table 62a is moved in the horizontal direction by the X table 31a of the transfer device 3a, and is retracted from the workpiece transfer area 10b onto the base (400) of the production apparatus 2a.

  In FIG. 6, the control when the production apparatus 2a operates as the workpiece 7d take-up side and the production apparatus 2b operates as the work 7b delivery side, which is not explicitly described above, is the same as in FIG. It can be read by replacing the step numbers in the 100s.

  As described above, according to the control of this embodiment shown in FIG. 6, the height (space size) of the workpiece transfer area 10 in the Z-axis direction, or the work table 62 mounted on the work table 62 from the former production apparatus. The workpiece 7 can be loaded in advance into the workpiece transfer area 10 of the subsequent production apparatus. That is, the workpiece transfer control of the present embodiment uses the height (space size) of the workpiece transfer area 10 in the Z-axis direction or the difference in the installation height of the transfer device 3 and the holding device 5 or the XY table 4. It is. For this reason, in addition to the effects described in the first embodiment, according to the control of the present embodiment, the control of FIG. 5 in which the work 7 is started to be carried into the subsequent production apparatus after the holding device of the subsequent production apparatus is moved. In comparison, the efficiency of the production process can be improved and the production process can proceed at a high speed.

  DESCRIPTION OF SYMBOLS 1 ... Production (automatic assembly) line, 2a-2d ... Production apparatus, 3a-3d ... Conveyor, 31a-31d ... X table, 32a-32d ... Z-axis actuator, 5a-5d ... Holding device, 6a-6d ... Work Stand camera, 7a-7d ... work, 8a-8d ... conveyance state sensor, 9a-9d ... holding state sensor, 10a-10c ... work transfer area, 11a-11d, 12a-12d ... movable area.

Claims (11)

The first production device includes a transfer device that delivers the workpiece to the second production device, and the second production device includes a holding device that picks up the workpiece from the first production device. A production apparatus line for transferring the workpiece from one production apparatus to the second production apparatus,
A first sensor disposed in the first production device for detecting a workpiece holding state of the holding device of the second production device;
A second sensor disposed in the second production apparatus for detecting a workpiece conveyance state by the conveyance apparatus of the first production apparatus;
With
The second production device starts a workpiece take-up operation by the holding device according to a workpiece conveyance state by the conveyance device detected by the second sensor in the workpiece transfer area,
The first production apparatus is a production apparatus line that terminates a workpiece conveyance operation by the conveyance device according to a workpiece holding state by the holding device detected by the first sensor in the workpiece transfer area.   2. The work transfer area according to claim 1, wherein the transfer device is defined by an upper portion of a base of the second production device that supports the holding device from the first production device. A production apparatus line in which the first production apparatus and the second production apparatus are arranged adjacent to each other so as to allow a workpiece to enter.   The production apparatus line according to claim 1 or 2, wherein the holding device is supported by an XY table.   The production apparatus line according to any one of claims 1 to 3, wherein the transfer device is configured by an X table.   5. The production apparatus line according to claim 1, wherein the conveyance device conveys the workpiece via a work table on which the workpiece is placed. 6.   The production apparatus line according to claim 5, wherein the first production apparatus includes a lift drive device configured by a Z-axis actuator that lifts and lowers the work table, and the second production device is configured by the lift drive device. A production apparatus line for moving the work table to a workpiece transfer position for holding the workpiece by the holding device.   The production apparatus line according to claim 1, wherein each of the first sensor and the second sensor is an imaging apparatus that acquires an image of the workpiece transfer area. The first production device includes a transfer device that delivers the workpiece to the second production device, and the second production device includes a holding device that picks up the workpiece from the first production device. A production apparatus line control method for transferring the workpiece from one production apparatus to the second production apparatus,
The first production device includes a first sensor that detects a workpiece holding state of the holding device of the second production device, and a first control device that controls the transfer device,
The second production apparatus includes a second sensor that detects a workpiece conveyance state by the conveyance device of the first production apparatus, and a second control device that controls the holding device,
The first control device carries in a workpiece by the conveyance device inside the workpiece transfer area; and
A holding control step in which the second control device starts a workpiece holding operation of the holding device in accordance with a detection result of the workpiece conveyance state by the second sensor;
A transfer end control step in which the first control device ends the workpiece transfer of the transfer device according to a detection result of the workpiece holding state by the first sensor;
Control method for production equipment line including In a production apparatus including a conveyance device that conveys a workpiece delivered to a holding device of a subsequent production apparatus, and a holding device that collects the workpiece conveyed by the conveyance device of the previous production apparatus,
A first sensor for detecting a workpiece holding state of the holding device of the latter-stage production apparatus;
A second sensor for detecting a workpiece transfer state by the transfer device of the preceding production apparatus;
A control device for controlling the transport device and the holding device in accordance with detection states of the first sensor and the second sensor;
With
The control device starts a workpiece take-up operation by the holding device in accordance with a workpiece conveyance state by the preceding conveyance device detected by the second sensor, and by the subsequent holding device detected by the first sensor. A production apparatus that executes production control for ending a workpiece conveyance operation by the conveyance device according to a workpiece holding state.   A control program for a production apparatus for causing the control apparatus according to claim 9 to execute the production control.   A computer-readable recording medium storing the production apparatus control program according to claim 10.

Images