JP2019144871A - Robot system, production system using robot system, control method of robot system and production system, and article assembly method using robot system and production system - Google Patents

Abstract

To provide a robot system that can reduce a time required for production and can save a space even if the number of exchange tools is increased in order to handle various types of work-pieces for assembly.SOLUTION: In a robot system comprising a transfer device for transferring a tray on which an object is placed to a predetermined position, the tray is equipped with a tool stocker that holds an exchange tool; the transfer device is controlled to transfer the tray to a predetermined position so as to attach/detach the exchange tool to/from a robot arm on the tray; and the robot arm is controlled to grip an object using the exchange tool.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot system used in a production line.

  In recent years, operations such as assembly and processing of industrial products having a small and complicated structure such as cameras and printers have been automated. Many types of workpieces used in this type of industrial products are small and precise, and the shapes thereof are various.

  It is required to continuously grip and assemble such a wide variety of workpieces with the same robotic device, and at the manufacturing site, it is attached to the tip of the robot arm body according to changes in workpiece types and processes. Changeover including tool change is performed. By performing this setup change and exchanging tools that come in contact with the workpiece, a variety of workpieces can be gripped and assembled.

  Patent Document 1 proposes a configuration in which a plurality of fingers serving as tools that come into contact with a workpiece are held on the base of a finger exchanging device and two pairs of fingers are independently exchanged. With this configuration, since each finger can be exchanged, there is an advantage that the finger can be used in common and the cost can be reduced.

JP2013-094930A

  However, when assembling a workpiece using the technique described in Patent Document 1, the robot must be moved to the position where the base of the finger changer is arranged each time the finger is changed. Therefore, as the number of workpieces to be gripped increases and the types of fingers to be replaced increase, the number of times that the robot is moved to the position where the base of the finger changer is arranged also increases. Therefore, it takes time for the finger changeover operation, and the production efficiency is lowered.

  Further, as the number of types of fingers arranged around the robot increases, the space occupied by the finger changer also increases accordingly, leading to an increase in the size of the entire robot system.

  The object of the present invention has been made by paying attention to such problems, and even if the number of exchange tools increases in order to cope with the gripping and assembly of various types of workpieces, the time required for production is reduced, and space saving is achieved. Provided is a robot system that can be used.

  In order to solve the above-described problems, according to the present invention, a robot system that grips an object using an exchange tool that can be attached to and detached from a robot arm, the tray on which the object is placed is transferred to a predetermined position. A transfer device that controls the robot system, and the tray includes a tool stocker that holds the exchange tool, and the control device controls the transfer device. The tray is moved to a predetermined position, the exchange tool is attached to and detached from the robot arm on the tray, and the robot arm is controlled to hold the object using the exchange tool. The characteristic robot system was adopted.

  In order to solve the above-described problems, according to the present invention, in a part production line, a tray on which various workpieces are placed is provided with an exchange tool corresponding to the various workpieces, and the exchange tool is attached to and detached from the tray. It is carried out. Therefore, since the workpiece to be gripped can always be arranged in the vicinity of the replacement tool, the workpiece can be gripped with a small number of operations after the replacement of the replacement tool, and the production time can be reduced. Further, if there is a space in which the tray can be arranged, it is not necessary to provide a finger exchange device, so that the space of the robot system can be saved.

It is a schematic diagram of robot system 1000 in an embodiment of the present invention. It is the schematic of the production system 2000 in embodiment of this invention. It is a flowchart from S101 to S114 of the production flow in the embodiment of the present invention. It is a flowchart from S115 to S128 of the production flow in the embodiment of the present invention. It is a flowchart from S129 to S141 of the production flow in the embodiment of the present invention. It is a flowchart from S142 to S155 of the production flow in the embodiment of the present invention. FIG. 3 is a state diagram from S101 to S108 in the flowchart of FIG. 3-1. FIG. 3 is a state diagram of S109 in the flowchart of FIG. FIG. 3 is a state diagram of S110 in the flowchart of FIG. FIG. 3 is a state diagram from S111 to S112 in the flowchart of FIG. FIG. 3 is a state diagram from S113 to S114 in the flowchart of FIG. 3-1. It is a state figure from S115 to S128 in the flowchart of FIG. 3-2. It is a state figure of S129 in the flowchart of Drawing 3-3. FIG. 4 is a state diagram of S130 and S130 'in the flowchart of FIG. 3-3. FIG. 4 is a state diagram from S131 to S139 and from S131 'to S139' in the flowchart of FIG. FIG. 4 is a state diagram from S140 to S141 in the flowchart of FIG. FIG. 4 is a state diagram from S142 to S149 in the flowchart of FIG. 3-4. FIG. 4 is a state diagram of S150 in the flowchart of FIG. 3-4. FIG. 4 is a state diagram of S151 in the flowchart of FIG. 3-4. FIG. 4 is a state diagram from S152 to S153 in the flowchart of FIG. 3-4. FIG. 4 is a state diagram from S154 to S155 in the flowchart of FIG. 3-4.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. The embodiment described below is merely an example, and the detailed configuration can be changed as appropriate without departing from the spirit of the present invention. Moreover, the numerical value taken up by this embodiment is a reference numerical value, and does not limit this invention.

(Embodiment)
FIG. 1 is a schematic diagram of a robot system 1000 according to this embodiment. 1A is a side view of the robot system 1000, and FIG. 1B is a top view of the robot system 1000. 1, the robot system 1000 includes a robot apparatus 1, a tray 301, a work work table 900, a belt conveyor 400, and a tray identification apparatus 500. In addition, the robot system 1000 is controlled by the control device 200 and receives an instruction from the user by the external input device 600.

  As shown in FIG. 1A, the robot apparatus 1 includes a 6-axis articulated robot arm body 3 and an exchange tool 30 detachably attached to the tip of the robot arm body 3. There are a plurality of exchange tools 30, and operations on the workpiece 50 that is the object can be performed using these plural types of exchange tools.

  The robot arm body 3 includes a base 101, six links 102 to 107, and six joints 111 to 116 that connect the links 102 to 107 so as to be rotatable in the directions of arrows a to f shown in FIG. ing. The joints 111 to 116 have a robot arm motor for swinging or rotating the links 102 to 107. Furthermore, each joint 111-116 is provided with an encoder (not shown), and the angle of each joint is detected from this encoder and fed back to the control device 200.

  From the figure, the base 101 of the robot arm main body 100 and the link 102 are connected by a joint 111 in the figure. For example, the joint 111 has a movable range of about ± 180 degrees in the direction of arrow a from the initial posture.

  The link 102 and the link 103 of the robot arm body 3 are connected by a joint 112. The joint 112 has a movable range of about ± 80 degrees in the arrow b direction from the initial posture, for example.

  The link 103 and the link 104 of the robot arm body 3 are connected by a joint 113. The joint 113 has a movable range of about ± 70 degrees in the direction of arrow c from the initial posture, for example.

  The link 104 and the link 105 of the robot arm body 3 are connected by a joint 114. The joint 114 has a movable range of about ± 180 degrees in the direction of the arrow d from the initial posture, for example.

  The link 105 and the link 106 of the robot arm main body 3 are connected by a joint 115. The joint 115 has a movable range of about ± 120 degrees in the direction of arrow e from the initial posture.

  The link 106 and the link 107 of the robot arm body 3 are connected by a joint 116. The joint 116 has a movable range of about ± 240 degrees in the direction of arrow f from the initial posture.

  In FIG. 1, the exchange tool 30 is attached to the most advanced link 107 of the robot arm body 3. A conventional mechanism is used for the mounting mechanism. This time, the explanation of the mounting mechanism is omitted for the sake of simplicity. The exchange tool 30 attached to the link 107 can freely move in the XYZ coordinate space in the drawing by the operation of the robot arm body 3.

  The exchange tool 30 includes a finger member 21 and a finger base 22. The finger base 22 has an opening / closing mechanism for opening and closing the finger member 21.

  Further, the link 107 is provided with a motor for driving the finger member 21 of the exchange tool 30. When this motor is connected to an opening / closing mechanism, the finger member 21 is opened and closed to perform operations such as gripping the workpiece 50a. .

  The number of finger members 21 is two in the present embodiment, but is not limited to this, and may be three or more.

  When there are a wide variety of workpiece shapes and work contents of the product to be assembled, each exchange tool 30 is used properly according to the work and work contents. For example, it is possible to prepare a plurality of finger members 21 having different lengths and shapes, and perform an appropriate work by exchanging the exchange tool 30 according to the work and the work content.

  1A and 1B, the tray 301 is placed on the tray mounting table 302 and transferred in the arrow direction S by the belt conveyor 400. By this belt conveyor 400, the tray 301 is transferred from outside the movable range of the robot apparatus 1 into the movable range.

  As shown in FIG. 1B, a tool stocker 41 that holds the replacement tool 30 and a work 50 are placed on the tray 301. One tool stocker 41 is provided at a predetermined position of the tray 301, and three workpieces 50 are placed around it.

  Further, as shown in FIG. 1A, the exchange tool 30 is held by the tool stocker 41 as indicated by a broken line. In FIG.1 (b), the exchange tool 30 is simply shown with the square in which the pattern of the oblique line was shown. In the example of the figure, for convenience of explanation, one tool stocker and three workpieces are placed on the tray. However, the number of exchange tools and the number of workpieces can be appropriately selected depending on the work target.

  An identifier 91 is attached to the tray 301, and information stored in the identifier 91 is read or written by the tray identification device 500. Since the identifier 91 can be read and written by an external radio wave without having a power source inside, it is desirable to use an RFID (radio frequency identifier).

  The identifier 91 stores a management number of the tray 301, work information (type, size, weight, etc.), information of the exchange tool 30 (type, management number, number of uses, number of exchanges, etc.) and the like.

  As the information of the exchange tool 30, for example, the management number of the exchange tool 30, teaching data of the opening / closing amount of the finger member 21, teaching data of the robot apparatus 1, the number of times of use of the exchange tool 30, the number of times of exchange of the exchange tool 30, etc. Is done.

  The management number of the exchange tool 30 is changed when the work to be operated is changed, and when the exchange tool 30 is replaced, it is confirmed whether the exchange tool 30 to be used is correct, and if it is different, the robot apparatus 1 is stopped. Used when presenting errors to the user.

  The teaching data of the opening / closing amount of the finger member 21 and the teaching data of the robot device 1 are read from the identifier 91 by the tray identifying device 500 when the exchange tool 30 is mounted on the robot arm body 3, and the controlling device from the tray identifying device 500 is controlled. 200. By doing this, the robot apparatus 1 can execute an operation corresponding to the attached exchange tool 30.

  Since the replacement tool 30 deteriorates depending on the number of times of use and the number of times of replacement, the cumulative number of times of use and the cumulative number of times of replacement are recorded in the identifier 91. Then, when the preset cumulative count threshold is exceeded, a command is transmitted to the control device 200, an alert is presented to the user, and the robot system 1000 is stopped.

  The user sees the alert and performs maintenance work such as making the replacement tool 30 new. When the maintenance work is completed, the user operates the robot system 1000 again. As a result, it is possible to prevent a workpiece gripping problem due to deterioration of the replacement tool 30 over time.

  As shown in FIG. 1, with respect to the work work table 900, the work 51 on the assembly side is positioned and placed at a predetermined position on the work table 911. The work table 911 is moved in the arrow S direction by the belt conveyor 400 in the same manner as the tray 301. By this belt conveyor 400, the work table 911 is carried in and out from the movable range of the robot apparatus 1 to the movable range.

  The workpiece 50 is held and assembled to the workpiece 51 by the robot apparatus 1. When the assembly is completed, the belt conveyor 400 can be operated and moved from the movable range of the robot apparatus 1 to the outside of the movable range. Then, the new workpiece 51 can be moved from outside the movable range of the robot apparatus 1 to within the movable range, and an assembling operation can be performed.

  The robot apparatus 1, the tray 301, and the work work table 900 are photographed by the vision 931. With this vision 931, it is possible to input information necessary for determination of the type of workpiece and gripping of the workpiece by the robot apparatus 1, such as the posture of the gripped workpiece, to the control device 200.

  The control device 200 includes a CPU 201, a ROM 202 that stores a program for controlling each unit, a RAM 203, a communication interface (I / F in the figure) 204, and the like. Among these, the RAM 203 is used for temporary storage of data such as teaching points and control commands by operating the external input device 600.

  The external input device 600 may be an operation device such as a teaching pendant (TP), but may be another computer device (PC or server) capable of editing a robot program. The external input device 600 can be connected to the control device 200 via wired or wireless communication connection means, and has user interface functions such as robot operation and status display.

  For example, the CPU 201 receives teaching point data input from the external input device 600 from the communication interface 204. Further, the trajectory of each axis of the robot apparatus 1 can be generated based on the teaching point data input from the external input apparatus 600 and transmitted to the robot apparatus 1 as a control target value via the communication interface 204.

  Further, the control device 200 is connected to the belt conveyor 400, the work work table 900, and the vision 931 via the communication interface 204. Further, it is connected to the tray identification device 500, and can read RFID information of the identifier 91 arranged on the tray 301 or write necessary information.

  The control device 200 is connected to the belt conveyor 400 of the work work bench 900 using a driver (not shown), and positions the tray 301 and the work 51 at a predetermined position within the movable range of the robot apparatus 1.

  In addition, it is possible to correctly mount the replacement work 30 based on the information from the tray identification device 500 and execute the work assembly work. As described above, the robot system 1000 can be integrated and controlled.

  FIG. 2 is a diagram showing the production system 2000 in the present embodiment. Two robot systems 1000 described in FIG. 1 are used. For simplicity of explanation, the robot system on the left side of the drawing is referred to as a robot system 1000 '. FIG. 2A is a diagram of the robot systems 1000 and 1000 'viewed from the ZX plane, and FIG. 2B is a diagram of the production system 2000 viewed from the YX plane.

  As shown in FIG. 2, the production system 2000 assembles the workpiece 50a to the workpiece 51, and further assembles the workpiece 50b to the workpiece 50a to complete it as one article. As shown in FIG. 2B, the exchange tool 30 includes an exchange tool 30a and an exchange tool 30b corresponding to the work of assembling each workpiece. In FIG. 2B, it is simply shown by squares with different hatching.

  The tray corresponding to the exchange tool 30a is called 301a, the tool stocker is 41a, the workpiece is 50a, and the identifier is 91a. Similarly, the tray corresponding to the exchange tool 30b is referred to as 301b, the tool stocker is referred to as 41b, the workpiece is referred to as 50b, and the identifier is referred to as 91b.

  Regarding the belt conveyor 400, numbers of belt conveyors 400a, 400b, and 400c are set for simplification of description. The branch numbers of the belt conveyors 400a, 400b, and 400c do not correspond to the branch numbers of the replacement tools 30a and 30b described above.

  As shown in FIG. 2A, the robot apparatus 1 'of the robot system 1000' arranges the workpieces 50a and 50b randomly placed on the workpiece placing table 911 'in alignment with the tray 301a and the tray 301b. The robot apparatus 1 of the robot system 1000 assembles the workpiece 50a and the workpiece 50b to the workpiece 51 placed on the workpiece table 911.

  2B, the belt conveyor 400a transfers the trays 301a and 301b. The belt conveyor 400a is provided over the movable range of both the robot apparatus 1 'and the robot apparatus 1, and can freely move the tray 301a and the tray 301b in the directions of arrows S and P. Similarly, the belt conveyor 400b transports all the workpieces mounted on the workpiece table 911 to another place. The belt conveyor 400c transfers the workpieces 50a and 50b randomly arranged on the workpiece placing table 911 ′ into the movable range of the robot apparatus 1 ′ so that the robot apparatus 1 ′ can arrange and place them on the trays 301a and 301b. . The belt conveyors 400b and 400c are assumed to operate in the arrow S direction and the arrow P direction in the same manner as the belt conveyor 400a.

  The robot systems 1000 ′ and 1000 include control devices 200 ′ and 200, respectively. In addition, a control device 700 that controls the entire production system 2000 is connected to the control devices 200 ′ and 200 so as to be communicable, and an external input device 600 is connected. Thus, by individually issuing instructions from the control device 700 to the control devices 200 ′ and 200, it is possible to control the whole while performing separate operations.

  The tray identification devices 500 and 500 'read the information written in the identifiers 91a and 91b provided on the trays 301a and 301b, and transmit the information to the control devices 200' and 200.

  The above is the configuration of the production system 2000 in the present embodiment. Hereinafter, the production flow in the present embodiment will be described in detail using a flowchart and a state diagram of the production system 2000.

  FIG. 3 is a production flowchart in the present embodiment, and FIG. 4 is a state diagram of the production system 2000 in the flowchart of FIG. In FIG. 3, branch numbers are set from FIGS. 3-1 to 3-4, and in FIG. 4, branch numbers are set from FIGS. 4-1 to 4-15. 4A is a diagram of the robot system 1000 ′ viewed from the ZX plane, FIG. 4B is a diagram of the robot system 1000 viewed from the ZX plane, and FIG. 4C is a diagram of the entire production system 2000 viewed from the YX plane. is there.

  It is assumed that the workpiece 50a to be assembled first and the tray 301a on which the workpiece 50a is placed have already been transferred within the movable range of the robot apparatus 1 'by the belt conveyor 400a.

  In the flowchart shown in FIG. 3, the control device 700 is executed by the control device 200 ′ and the control device 200, but S124 ′ to S133 ′ are executed by the control device 200 ′, and S124 to S133 are executed by the control device 200. Shall be.

  3A, first, the information of the replacement tool 30a and the tray 301a written in the identifier 91a in S101 is read by the tray identification device 500 '(FIG. 4-1 (c)).

  In S102, it is determined whether or not the tray 301 in front of the tray identification device 500 'is the tray 301a. When a tray 301 other than the tray 301a is read, the process proceeds to S103, a user using the production system 2000 is notified that the tray 301 in front of the tray identification device 500 ′ is wrong, and the production system 2000 is stopped. .

  When the correct tray is placed by the user in S104 and the production system 2000 is restarted, the flow returns to immediately before S102 and the flow is resumed.

  If S102: YES, the process proceeds to S105, and it is determined whether the cumulative use count and cumulative replacement count of the replacement tool 30a exceed a threshold value. If it exceeds the threshold, the process proceeds to S106, where an alert for maintenance of the user exchange tool 30a or replacement with a new one is presented, and the production system 2000 is stopped.

  In S107, when the user performs maintenance of the replacement tool 30a or replaces the replacement tool 30a with a new one and the production system 2000 is restarted, the process returns to immediately before S105, and the flow is resumed.

  S105: YES, that is, if the threshold value is not exceeded, the process proceeds to S108.

  In S108, the robot arm body 3 'of the robot apparatus 1' is operated, and the tip link 107 'is brought close to the tool stocker 41a holding the exchange tool 30a (FIG. 4A (a)). In step S109, the replacement tool 30a is attached to the link 107 '(FIGS. 4-2 (a) and (c)).

  When the exchange tool 30a is mounted on the link 107 ′ in S109, the process proceeds to S110, the robot apparatus 1 ′ is operated, and the work 50a randomly placed on the work table 911 ′ is gripped by the exchange tool 30a (FIG. 4). -3 (a) (c)). At this time, the position of the workpiece 50a is detected by the vision 931 'and gripped.

  In step S111, the robot apparatus 1 'is operated to place the work 50a in alignment with the tray 301a (FIGS. 4-4 (a) and (c)). Also at this time, the position of the tray 301a on which the work 50a is placed is detected by the vision 931 'and placed.

  In step S112, it is determined whether a predetermined number of workpieces 50a have been placed on the tray 301a. If S112: No, the process returns to immediately before S110, and the work 50a is aligned again. If it is S112: Yes, it will progress to S113.

  In S113, since the alignment operation of the workpiece 50a to the tray 301a is completed, the replacement tool 30a is held by the tool stocker 41a on the tray 301 (FIGS. 4-5 (a) and (c)).

  In S114, the information on the replacement tool 30a such as the cumulative use count and cumulative replacement count of the replacement tool 30a whose value has been changed by the operations of S109 to S113 is written in the identifier 91a by the tray identification device 500 ′, and the information on the replacement tool 30a is written. Update. Then, the process proceeds to S115 (FIG. 3A shows the next step to proceed with the connector 1).

  3-2, the belt conveyor 400a is operated in the arrow S direction in S115, and the tray 301a is transferred to the movable range of the robot apparatus 1. At this time, the tray 301b on which the workpiece 50b is placed is transferred to the movable range of the robot apparatus 1 '(FIGS. 4-6 (a) and (c)).

  In S116, the tray identification device 500 ′ reads the information of the replacement tool 30b and the tray 301b written in the identifier 91b, and the tray identification device 500 reads the information of the replacement tool 30a and the tray 301a written in the identifier 91a. Read.

  In S117, it is determined whether or not the tray 301 in front of the tray identification device 500 'is the tray 301b. When the tray 301 other than the tray 301b is read, the process proceeds to S116, and the user using the production system 2000 posts that the tray 301 in front of the tray identification device 500 ′ is wrong, and stops the production system 2000. .

  Then, when the correct tray is placed by the user in S119 and the production system 2000 is restarted, the flow returns to immediately before S117 and the flow is resumed.

  If S117: Yes, the process proceeds to S120, and it is determined whether or not the tray 301 in front of the tray identification apparatus 500 is the tray 301a. When a tray 301 other than the tray 301b is read, the process proceeds to S121, a user using the production system 2000 is notified that the tray 301 in front of the tray identification device 500 is wrong, and the production system 2000 is stopped.

  When the correct tray is placed by the user in S122 and the production system 2000 is restarted, the flow returns to immediately before S120 and the flow is resumed.

  If S120: Yes, the process proceeds to S123, and it is determined whether the cumulative use count and cumulative replacement count of the replacement tool 30b exceed a threshold value. If it exceeds the threshold value, the process proceeds to S124, where an alert for maintenance of the exchange tool 30b or replacement with a new one is presented to the user, and the production system 2000 is stopped.

  In S125, when the user performs maintenance of the replacement tool 30b or replaces it with a new one and the production system 2000 is restarted, the flow returns to immediately before S123 and the flow is resumed.

  S123: YES, that is, if the threshold value is not exceeded, the process proceeds to S126.

  In S126, it is determined whether the cumulative use count and the cumulative exchange count of the exchange tool 30a exceed a threshold value. If it exceeds the threshold value, the process proceeds to S127, and an alert for maintenance of the exchange tool 30a or replacement with a new one is presented to the user.

  In S128, when the user performs maintenance of the replacement tool 30a or replacement with a new one and the production system 2000 is restarted, the flow returns to immediately before S126 and the flow is resumed.

  S126: YES, that is, if the threshold value is not exceeded, the process proceeds to S129. (FIG. 3-2 shows the next step in the connector 2).

  As shown in FIG. 3C, since the correct tray 301 is assigned to the robot apparatus 1 'and the robot apparatus 1 in S129, the robot apparatus 1' and the robot apparatus 1 are operated. Then, the exchange tool 30b is attached to the link 107 ', and the exchange tool 30a is attached to the link 107 (FIGS. 4-7).

  Then, the control device 700 instructs the control device 200 'to align the workpiece 50b, and instructs the control device 200 to perform the assembly operation of the workpiece 50a. Hereinafter, the robot apparatus 1 ′ is controlled by the control apparatus 200 ′, and the robot apparatus 1 is controlled by the control apparatus 200 in parallel.

  First, S130 'to S139' executed by the control device 200 'will be described.

  In S <b> 130 ′, the robot apparatus 1 ′ is operated, and the workpiece 50 b placed randomly on the workpiece placing table 911 ′ is gripped by the replacement tool 30 b (FIGS. 4-8 (a) and (c)). At this time, the position of the workpiece 50b is detected by the vision 931 'and gripped.

  In S131 ', the robot apparatus 1' is operated to place the work 50b in alignment with the tray 301b (FIGS. 4-9 (a) and (c)). Also at this time, the position of the tray 301a on which the work 50b is placed is detected by the vision 931 'and placed.

  In S132 ', it is determined whether a predetermined number of workpieces 50b have been placed on the tray 301b. If S132 ': No, the process returns to immediately before S130', and the work 50b is aligned again. If S132 ': Yes, the process proceeds to S133'.

  In S <b> 133 ′, the fact that a predetermined number of workpieces 50 b have been placed is transmitted via the control device 700 to the control device 200 that controls the robot device 1.

  In S134 ', it is determined whether the robot apparatus 1 has assembled a predetermined number of workpieces 50a. As will be described later, since the same processing of S133 ′ described above is executed in S133, when information indicating that a predetermined number of workpieces 50a have been assembled is transmitted from the control device 200, S134 ′: Yes. And go to S136 ′. If no information is transmitted from the control device 200, S134 ': No and the process proceeds to S135'.

  In S135 ', the robot apparatus 1' is temporarily stopped. And it returns to just before S134 '. Thereby, the robot apparatus 1 ′ can be temporarily stopped until the work by the robot apparatus 1 is completed.

  If S134 ': Yes, the process proceeds to S136' to determine whether the robot apparatus 1 'is temporarily stopped. If it is S136 ': Yes, it will progress to S137' and will operate the robot apparatus 1 '. Then, the process proceeds to S <b> 138 ′, and information indicating that the robot apparatus 1 ′ has been operated is transmitted to the control apparatus 200 via the control apparatus 700. Then, the process proceeds to S139 '.

  In S139 ', it is determined whether or not the robot apparatus 1 is temporarily stopped. As will be described later, the process of S138 ′ described above is executed in S138 as well, so when information indicating that the robot apparatus 1 has been operated is transmitted from the control apparatus 200, S139 ′: Yes, Proceeding to S140, the control by the control device 200 ′ is terminated.

  When the robot apparatus 1 is temporarily stopped, it becomes S139 ': Yes and it is determined again whether the robot apparatus 1 is operating.

  Next, S130 to S139 executed by the control device 200 will be described.

  In S130, the robot apparatus 1 is operated to grip the workpiece 50a placed in alignment with the tray 301a with the replacement tool 30a (FIGS. 4-8 (b) and (c)). At this time, the position of the workpiece 50b is detected by the vision 931 and gripped.

  In S131, the robot apparatus 1 is operated, and the workpiece 50a is assembled to the workpiece 51 (FIGS. 4-9 (b) and (c)). Also at this time, the position of the work 51 to which the work 50a is assembled is detected by the vision 931 and the assembly is performed.

  In S132, it is determined whether a predetermined number of workpieces 50a have been assembled to the workpiece 51. S132: If No, the process returns to immediately before S130, and the work 50a is assembled again. If S132: Yes, the process proceeds to S133.

  In S133, the fact that a predetermined number of workpieces 50a have been assembled is transmitted to the control device 200 'that controls the robot apparatus 1' via the control device 700.

  In S134, it is determined whether or not the robot apparatus 1 'has placed a predetermined number of workpieces 50b. If information indicating that a predetermined number of workpieces 50b have been placed is transmitted from the control device 200 'through the process of S133' described above, the result of S134 is Yes and the process proceeds to S136. When information is not transmitted from the control device 200 ', S134: No, and the process proceeds to S135.

  In S135, the robot apparatus 1 is temporarily stopped. And it returns to just before S134. Thereby, the robot apparatus 1 can be temporarily stopped until the work by the robot apparatus 1 'is completed.

  S134: If Yes, the process proceeds to S136, and it is determined whether the robot apparatus 1 is temporarily stopped. If it is S136: Yes, it will progress to S137 and will operate the robot apparatus 1. FIG. Then, the process proceeds to S138, and the fact that the robot apparatus 1 has been operated is transmitted to the control apparatus 200 'via the control apparatus 700. Then, the process proceeds to S139.

  In S139, it is determined whether or not the robot apparatus 1 'is temporarily stopped. If information indicating that the robot apparatus 1 ′ has been operated is transmitted from the control apparatus 200 ′ through the process of S <b> 138 ′ described above, the process proceeds to S <b> 139: Yes.

  If the robot apparatus 1 'is temporarily stopped, S139: Yes and it is determined again whether the robot apparatus 1' is operating.

  As described above, the robot apparatus 1 ′ and the robot apparatus 1 are caused to perform different operations simultaneously.

  In S140, since the work on the workpiece 50a and the workpiece 50b is completed, the exchange tool 30a and the exchange tool 30b are held in the respective tool stockers 41a and 41b (FIG. 4-10).

  In S141, information on the replacement tool 30b such as the cumulative use count and cumulative replacement count of the replacement tool 30b whose value has changed due to the operations of S130 ′ to S139 ′ is written in the identifier 91b by the tray identification device 500 ′. Update information.

  Similarly, information on the replacement tool 30a such as the cumulative use count and cumulative replacement count of the replacement tool 30a whose value has changed due to the operations of S130 to S139 is written in the identifier 91a by the tray identification device 500, and the information on the replacement tool 30a is updated. . Then, the process proceeds to S142 (FIG. 3-3 shows the next step in the connector 3).

  3-4, the belt conveyor 400a is operated in the direction of arrow S in S142, and the tray 301b in which the workpieces 50b are arranged and held and the exchange tool 30b is held is transferred into the movable range of the robot apparatus 1 ( Fig. 4-11 (b) (c)).

  The information of the replacement tool 30b and the tray 301b written in the identifier 91b in S143 is read by the tray identification device 500.

  In S144, it is determined whether or not the tray 301 in front of the tray identification device 500 is the tray 301b. When a tray 301 other than the tray 301b is read, the process proceeds to S145, where the user using the production system 2000 is notified that the tray 301 in front of the tray identification device 500 is wrong, and the production system 2000 is stopped.

  When the correct tray is placed by the user in S146 and the production system 2000 is restarted, the flow returns to immediately before S144 and the flow is resumed.

  If it is S144: Yes, it will progress to S147 and will determine whether the cumulative use frequency of the exchange tool 30b and the cumulative frequency of replacement exceed a threshold value. If it exceeds the threshold value, the process proceeds to S148, where an alert for maintenance of the exchange tool 30b or replacement with a new one is presented to the user, and the production system 2000 is stopped.

  In S149, when the user performs maintenance of the replacement tool 30b or replaces it with a new one, and the production system 2000 is restarted, the flow returns to immediately before S147, and the flow is resumed.

  S147: YES, that is, if the threshold value is not exceeded, the process proceeds to S150.

  In S150, the robot arm body 3 of the robot apparatus 1 is operated, the tip link 107 is brought close to the tool stocker 41a holding the exchange tool 30b, and the exchange tool 30b is attached to the link 107 (FIG. 4-12 (b)). (C)).

  When the replacement tool 30b is mounted on the link 107 in S150, the process proceeds to S151, the robot apparatus 1 is operated, and the workpiece 50b placed in alignment on the tray 301b is gripped by the replacement tool 30b (FIG. 4-13 ( b) (c)). At this time, the position of the workpiece 50b is detected by the vision 931 and gripped.

  In S152, the robot apparatus 1 is operated, and the work 50b is assembled to the work 50a (FIGS. 4-14 (b) and (c)). At this time, the position of the workpiece 50a to be assembled with the vision 931 is detected and assembled.

  In S153, it is determined whether a predetermined number of workpieces 50b have been assembled to the workpiece 50a. S153: If No, the process returns to immediately before S151, and the work 50b is assembled again. If S153: Yes, go to S154.

  In S154, since the assembly of all the workpieces is completed, the exchange tool 30b is held by the tool stocker 41b, and the process proceeds to S155.

  In S155, the information of the exchange tool 30b such as the cumulative use count and the cumulative exchange count of the exchange tool 30b whose value has been changed by the operations of S150 to S154 is written in the identifier 91b by the tray identification device 500, and the information of the exchange tool 30b is updated. To do. The production flow is thus completed.

  As described above, according to the present embodiment, various replacement tools can be arranged in the vicinity of various workpieces by providing the tool stocker on the tray on which the various workpieces are placed. Thereby, after mounting | wearing an exchange tool, the workpiece | work corresponding to the exchange tool can be hold | gripped instantly, and production efficiency can be improved.

  In addition, by placing the exchange tool and the workpiece on one tray, the various exchange tools and the various workpieces can be always transferred in the range of motion of the robot apparatus. Thereby, the correspondence between the exchange tool and the workpiece can be easily confirmed, and mistakes in the setup change of the exchange tool can be reduced.

  Although the present embodiment has been described above, when the workpiece 50b is assembled to the workpiece 50a by the robot apparatus 1, the robot apparatus 1 'may again perform the parallel placement operation of the workpiece 50a.

(Other embodiments)
In the present embodiment, the case where the robot arm bodies 3 and 3 ′ are vertical articulated robot arms has been described. However, the present invention is not limited to this. The robot arm main body to which the exchange tool 30 is attached may be various robot arms such as a horizontal articulated robot arm, a parallel link robot arm, and an orthogonal robot.

  In the present embodiment, the number of the trays 301a and 301b is one. However, when the number of workpieces to be handled is large, a plurality of similar trays may be stacked and produced using a tray replacement device.

  In this embodiment, the robot systems 1000 and 1000 ′ have been described. However, the present invention is not limited to this, and there may be three or more robot systems, or one robot system. .

  In this embodiment, the operation program of the robot arm main body 3 on the trays 301a and 301b is recorded in the control devices 200, 200 ', and 700. However, the operation programs based on the positions of the tool stockers 41a and 41b holding the replacement tools 30a and 30b and the workpieces 50a and 50b are recorded in the identifiers 91a and 91b, read by the tray identification devices 500 and 500 ′, and controlled. You can go.

  The processing procedure in FIG. 3 of each of the above embodiments is specifically executed by the control device 700, the control device 200, and the control device 200 '. Therefore, the present invention can be achieved by supplying a recording medium recording a software control program capable of executing the above functions to the CPU, and reading and executing the program stored in the ROM. In this case, the program itself read from the recording medium realizes the functions of the above-described embodiments, and the program itself and the recording medium on which the program is recorded constitute the present invention.

  In each embodiment, the case where the computer-readable recording medium is a ROM or RAM and the program is stored in the ROM or RAM has been described. However, the present invention is not limited to such a form. . The program for carrying out the present invention may be recorded on any recording medium as long as it is a computer-readable recording medium. For example, an HDD, an external storage device, a recording disk, or the like may be used as a recording medium for supplying the program.

  The present invention can be used as an industrial robot.

1, 1 'robot device 3, 3' robot arm main body 30, 30a, 30b exchange tool 41a, 41b tool stocker 50a, 50b, 51 work 91a, 91b identifier 101 base 102, 103, 104, 105, 106, 107 link 111, 112, 113, 114, 115, 116 Joints 301a, 301b Tray 302 Tray mounting table 400a, 400b, 400c Belt conveyor 500, 500 'Tray identification device 900, 900' Work work table 911, 911 'Work table 931, 931' Vision 1000, 1000 'Robot system 2000 Production system 200, 200', 700 Control device 600 External input device

Claims (17)

A robot system that grips an object using an exchange tool that can be attached to and detached from a robot arm,
A transfer device for transferring a tray on which the object is placed to a predetermined position;
A control device for controlling the robot system,
The tray includes a tool stocker for holding the replacement tool,
The controller is
Controlling the transfer device to transfer the tray to a predetermined position;
Detach and attach the replacement tool to the robot arm on the tray,
A robot system, wherein the robot arm is controlled to hold the object using the exchange tool. The robot system according to claim 1,
The controller is
A robot system, wherein the tray is transferred to the predetermined position while the tool stocker holds the exchange tool. In the robot system according to claim 1 or 2,
There are a plurality of types of the exchange tool and the object,
The tray has an identifier in which information about the replacement tool and the object is recorded,
A robot system comprising: an identification device that reads the information recorded in the identifier and writes the information to the identifier. The robot system according to claim 3, wherein
The controller is
When the work on the object is completed, the information changed by the work is written to the identifier using the identification device. In the robot system according to claim 3 or 4,
The robot system according to claim 1, wherein the information is a cumulative use count and / or a cumulative replacement count of the exchange tool. In the robot system according to any one of claims 3 to 5,
The information is
The position of the tool stocker and / or the position of the object;
A robot system, which is an operation program of the robot arm based on the position of the tool stocker and the position of the object. The robot system according to any one of claims 3 to 6, wherein
The robot system according to claim 1, wherein the identification device is an RFID.   A production system comprising a plurality of the robot systems according to any one of claims 1 to 7. A tray for placing an object,
A tray comprising a tool stocker for holding the exchange tool corresponding to the object. The tray according to claim 9, wherein
There are a plurality of types of the exchange tool and the object,
A tray having an identifier in which information on the exchange tool and the object is recorded. The tray according to claim 10,
The robot system according to claim 1, wherein the information is a cumulative use count and / or a cumulative replacement count of the exchange tool. The robot system according to claim 10 or 11,
The information is
The position of the tool stocker and / or the position of the object;
A robot system, which is an operation program of the robot arm based on the position of the tool stocker and the position of the object. A control method of a robot system that grips an object using an exchange tool that can be attached to and detached from a robot arm,
The robot system includes:
A tray on which the object is placed, provided with a tool stocker for holding the exchange tool;
A transfer device for transferring the tray to a predetermined position,
From the tool stocker, a mounting step of mounting the exchange tool on the robot arm;
A gripping step of gripping the object using the exchange tool;
Using the exchange tool, a placing step of placing the object on the tray;
A holding step of holding the exchange tool from the robot arm to the tool stocker;
A control method comprising: a transfer step of transferring the exchange tool and the object together. A method for assembling an article using a robot system that grips an object using an exchange tool that can be attached to and detached from a robot arm,
The robot system includes:
A tray on which the object is placed, provided with a tool stocker for holding the exchange tool;
A transfer device for transferring the tray to a predetermined position,
From the tool stocker, a mounting step of mounting the exchange tool on the robot arm;
A gripping step of gripping the object using the exchange tool;
An assembly step of assembling the object to another object using the exchange tool;
A holding step of holding the exchange tool from the robot arm to the tool stocker;
A method of assembling an article, comprising: a transfer step of transferring the replacement tool and the object together. 15. The control method according to claim 13 or claim 14, or an article assembly method,
The tray has an identifier in which information about the replacement tool and the object is recorded,
The robot system has an identification device that reads the information recorded in the identifier and writes the information to the identifier;
Reading the information recorded in the identifier using the identification device; and
And a writing step of updating the information recorded in the identifier using the identification device.   A control program capable of executing the control method according to any one of claims 13 to 15 or the method for assembling an article.   A computer-readable recording medium on which the control program according to claim 16 is recorded.

Images