JP2021094634A - Work feeding/removing material system, portable robot device, and portable work stocker - Google Patents

Abstract

To realize a work feeding/removing material system, a portable robot device, and a portable work stocker capable of feeding or removing work even if relative position of the portable robot device and the portable work stocker, and of a work device and the portable robot device are not strictly regulated.SOLUTION: A work feeding/removing material system 1 feeds and removes work W between a portable work stocker 3 and a work device 4 with a portable robot device 2. A visual sensor 36 compares each image data detecting and taking in a first target mark 10, a second target mark 54 and a third target mark 55 with each reference image data, calculates relative positional deviation amount between the work device 4, the portable work stocker 55, and the portable robot device 2, and corrects reference posture data and reference operation position data of a manipulator 23 to drive the manipulator 23.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work supply / removal material system, a portable robot device, and a portable work stocker.

In recent years, in order to improve work efficiency, it has become common to install a robot in a work device (machine tool or the like) and have the robot supply and remove materials from the work. However, such a device is efficient because it becomes a large and expensive device, requires a large installation space, or the robot is stopped while the work device is stopped. It cannot be said that it is a simple device. Therefore, a portable robot device has appeared in which robots are mounted on a trolley and then transferred to the vicinity of the work device to supply and remove materials from the work. However, in the portable robot device, it is necessary to strictly manage the relative position between the stationary work device and the portable robot device.

As an example of such a portable robot device, a mark (sometimes called a target mark) is provided on the front wall of the machine tool, which is a work device, and the trolley of the portable robot device transferred and installed near the machine tool. There is a method in which a target mark is imaged by an on-board visual sensor, the image of the captured target mark is image-processed as partner information, and the position of the portable robot device is set at a predetermined position by comparing with the reference image information (for example). , Patent Document 1).

In addition, the target mark provided on the machine tool is imaged by the visual sensor of the robot device mounted on the traveling vehicle, and when the portable robot device is installed at the reference position and when it is not installed at the reference position. There is a portable robot device that corrects the operating position of the robot device based on the amount of deviation between them and then starts the operation (see, for example, Patent Document 2).

JP-A-2018-126800 JP-A-2019-93533

However, in the portable robot device of Patent Document 1, in order to strictly manage the relative position of the portable robot device with respect to the machine tool, the central part of the figure received as the partner information and the target mark in the processed image are displayed. The operator must fine-tune the position of the robot device so as to match the central portion while moving the traveling trolley, which is not efficient. In addition, since it is a device that operates by exchanging information between a machine tool and a portable robot device, it is necessary to equip a communication device and a control system related to communication, and the existing machine tool has some kind of equipment. There is a problem that this portable robot device cannot be applied without modification.

In the robot device of Patent Document 2, it is possible to feed the work without strictly defining the relative position of the portable robot device with respect to the machine tool. However, when the portable robot device is installed outside the range of a predetermined position, there is a problem that the portable robot device must be moved until the target mark is within the field of view of the visual sensor.

Further, in the portable robot devices of Patent Documents 1 and 2, measures are taken regarding the relative position management between the machine tool which is a working device and the robot device. However, for example, when the work stocker for feeding the work is a portable type, no consideration is given to the relative position between the work stocker and the portable robot device.

Therefore, the present invention has been made to solve at least one of such problems, and the relative position between the portable robot device and the portable work stocker without modifying the existing working device. In addition, the work material can be supplied to the work device and the work can be removed from the work device without strictly defining the relative positions of the work device and the portable robot device. It is intended to realize a system, a portable robot device, and a portable work stocker.

[1] The work supply / removal system of the present invention is a work supply / removal system that supplies and removes work material between a portable work stocker and a work device by a portable robot device, and is the portable type. The robot device includes a manipulator mounted on a portable trolley, a visual sensor attached to the manipulator, and control means for controlling the manipulator and the visual sensor, and (1) a first surrounding frame provided on a floor surface. With the portable robot device placed somewhere inside the mark, the image data of the first target mark placed on the work device detected by the visual sensor and the control means store the data. The reference image data of the first target mark is compared, the relative position deviation amount between the work device and the portable robot device is calculated, and the reference posture of the manipulator preset based on the position shift amount is calculated. The data and the reference operation position data are offset and used as the attitude data and the operation position data referred to by the operation program. (2) The above is possible somewhere inside the second enclosed frame mark provided on the floor surface. With the portable work stocker placed, the image data of the second target mark placed on the work stocker detected by the visual sensor and the reference image data of the second target mark stored by the control means are stored. By comparison, the relative displacement amount between the work stocker and the portable robot device is calculated, and the reference posture data and the reference operation position data preset based on the displacement amount are offset. , This is used as posture data and motion position data referred to by the motion program, and (3) an image of the third target mark arranged on the work palette housed in the portable work stocker detected by the visual sensor. The data is compared with the reference image data of the third target mark stored in the control means, the relative displacement amount between the work pallet and the portable robot device is calculated, and the displacement amount is calculated. By offsetting the reference posture data and the reference operation position data preset based on the above, the attitude data and the operation position data referred to by the operation program are obtained, and (4) the manipulator is the corrected manipulator. The work is picked up from the portable work stocker based on the attitude data and the operation position data of the above, and the material is supplied to the work device. Is characterized in that the material is removed from the working device.

[2] In the work supply / removal system of the present invention, the portable robot device is arranged inside the first enclosed frame mark, and the portable work stocker is arranged inside the second enclosed frame mark. In the initial setting of the manipulator, the reference image data and the reference operation position data related to the work device drive the manipulator by manual operation, and the visual sensor is in a state where the first target mark can be detected. The image data of the first target mark and the operation position data of the manipulator in that state, and the reference image data and the reference operation position data related to the portable work stocker are manually operated to move the manipulator. The image data of the second target mark and the operation position data of the manipulator in that state, which are taken in when the visual sensor is driven and the second target mark can be detected, are related to the work palette. The reference image data and the reference operation position data are image data of the third target mark captured when the manipulator is driven by manual operation and the visual sensor is in a state where the third target mark can be detected. And it is preferable that it is the operation position data of the manipulator in that state.

[3] In the work supply / removal system of the present invention, the portable work stocker has a housing and a work pallet arranged inside the housing, and a predetermined work pallet has a work mounting surface on the work pallet. It is preferable that the work is placed at the position of, and the third target mark is arranged at a position on the work mounting surface where the visual sensor can be detected.

[4] In the work supply / removal system of the present invention, the manipulator can pull out or push back the work pallets arranged in a plurality of stages from the housing in each stage in the horizontal direction. It is preferable that the third target mark is arranged at a position where the visual sensor can detect the work pallet with the work pallet pulled out from the housing.

[5] In the work supply / removal system of the present invention, the portable robot device includes information means for recognizing the status information of the work device, and the control means includes the work device and the work device based on the status information. It is preferable to control the operation of the manipulator with respect to the work stocker.

[6] The portable robot device of the present invention is a portable robot device that constitutes the work feeding / removing system according to any one of the above [1] to [5] and is responsible for feeding and removing the work. A portable trolley having wheels at the bottom, the manipulator mounted on the portable trolley, a visual sensor attached to any of the manipulators, the manipulator, and the control means for controlling the visual sensor. The visual sensor detects and captures the first target mark, the second target mark, and the third target mark, and compares each image data corresponding to the captured target mark with each reference image data. , The relative displacement amount between the work device and the portable work stocker is calculated, and each of the reference posture data and each reference operation position data preset based on each of the displacement amounts is corrected. It is characterized by driving a manipulator.

[7] In the portable robot device of the present invention, the portable trolley includes an outrigger that fixes the position and posture of the portable trolley at a position where the portable trolley is stationary, and the outrigger is the portable type. An outrigger arm that can rotate from the trolley to any position in a plurality of directions along the floor surface, and a height position that is screwed into the tip of the outrigger arm and abuts on the floor surface or is separated from the floor surface. It is preferable to have an adjustable outrigger post.

[8] The work stocker of the present invention is a portable work stocker that constitutes the work material supply system according to any one of the above [1] to [5] and is responsible for transporting the work, and has wheels at the lower part. The work pallets on which the work is placed are arranged in a plurality of stages inside the housing, and the work pallets can be pulled out or pushed back from the housing in the horizontal direction for each stage. The housing is provided with the second target mark, the work mounting surface of the work pallet is provided with the third target mark, and the portable work stocker is placed inside the second surrounding frame mark. When arranged, the second target mark and the third target mark are arranged at positions where the visual sensor of the portable robot device installed inside the first surrounding frame mark can be detected. It is characterized by being done.

According to the present invention, the relative position between the portable robot device and the portable work stocker and the relative position between the work device and the portable robot device are strictly determined without modifying the existing working device. It is possible to realize a work material supply / removal system, a portable robot device, and a portable work stocker that can supply the work material to the work device and remove the work material from the work device without specifying it. Become.

It is a perspective view which shows the whole structure of the work supply / removal material system 1. It is explanatory drawing explaining the concept of the installation position with respect to the 1st enclosed frame mark 6 of the portable robot apparatus 2 and the installation position with respect to the 2nd enclosed frame mark 7 of the portable work stocker 3. It is explanatory drawing which shows the structure and operation of the outrigger 24. It is a perspective view which shows the situation which the visual sensor 36 detects the 1st target mark 10. It is a perspective view which shows the situation which the visual sensor 36 detects the 2nd target mark 54. It is a perspective view which shows the situation which the manipulator 23 pulls out a work pallet 58 from a housing 50. It is a perspective view which shows the situation which the visual sensor 36 detects the 3rd target mark 55. It is a perspective view which shows the situation which the manipulator 23 picks up work W. It is a partial front view which shows the situation which the manipulator 23 picks up a work W. It is a process flow diagram which shows the main process of the material supply and material removal method of a work W.

Hereinafter, the work feeding material system 1, the portable robot device 2, and the portable work stocker 3 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 10. The drawings described below are schematic views that do not strictly reflect the actual structure, dimensions, vertical and horizontal scales, and the like.

[Configuration of work supply / removal system 1]
FIG. 1 is a perspective view showing the overall configuration of the work supply / removal material system 1. The work supply / removal system 1 picks up a portable work stocker 3 capable of transporting the work W in the vicinity of the portable robot device 2 and a work W mounted on the portable work stocker 3, and is a work device. It is composed of a portable robot device 2 that transports the robot to 4 and supplies the material to a predetermined position of the work device 4.

When the work feeding material system 1 is in operation, the portable robot device 2 is arranged inside the first surrounding frame mark 6 arranged on the floor surface 5. Similarly, the portable work stocker 3 is arranged inside the second surrounding frame mark 7 arranged on the floor surface 5. The portable robot device 2 does not have to strictly define the arrangement position as long as it is in the area inside the first enclosed frame mark 6. On the other hand, even in the portable work stocker, it is not necessary to strictly define the arrangement position as long as it is within the area inside the second enclosed frame mark 7. Both the first enclosed frame mark 6 and the second enclosed frame mark 7 can be easily arranged by attaching a tape having a conspicuous color such as a so-called "tra tape" to the floor surface 5. The positional relationship between the first enclosed frame mark 6 and the second enclosed frame mark 7 and the portable robot device 2 and the portable work stocker 3 will be described later with reference to FIG.

The work device 4 is, for example, a machine tool for machining the work W, a processing device for applying some processing to the surface of the work W, an assembly device, an inspection device, and the like, and is not particularly limited thereto. A processing device or the like that performs the above work is stored in the device main body 8 of the work device 4, and the first target mark 10 is arranged on the wall surface 9 facing the portable robot device 2. An operation panel 11 and a display panel 12 are arranged on the wall surface 9. The operation panel 11 is provided with a keyboard for performing operations related to the operation of the work device 4, an ON / OFF switch, a lamp for notifying the operating status, and the like. The display panel 12 displays numbers, tables, graphs, and the like that represent various data input from the operation panel 11 and the operating status of the work device 4.

Further, an opening / closing door 13 is provided on the wall surface 9 of the work device 4 on the portable robot device 2 side. The opening / closing door 13 is opened when the work W is supplied or removed, and is closed when the work W is processed or processed. A handle 14 for opening / closing the opening / closing door 13 is attached to the opening / closing door 13. The work device 4 may be set so that work such as processing is stopped when the opening / closing door 13 is open and work can be performed when the opening / closing door 13 is closed.

[Configuration of portable robot device 2]
Subsequently, the configuration of the portable robot device 2 will be described with reference to FIG. The portable robot device 2 is mainly composed of a portable trolley 21 having wheels 20 at the lower portion and a manipulator 23 to which a base portion 22 is fixed to the portable trolley 21. An outrigger 24 for stably maintaining the stationary position of the portable robot device 2 is attached to the portable trolley 21. The configuration and operation of the outrigger 24 will be described later with reference to FIG. A handle 25 for the operator to transfer the portable robot device 2 is attached to the upper part of the portable trolley 21. The portable robot device 2 configured in this way can be freely transferred on the floor surface 5 with the outrigger 24 closed, and by rotating the outrigger 24, the stationary position of the portable robot device 2 is reached. And it is possible to maintain the posture.

The manipulator 23, which is the robot body described below, is an example of a so-called vertical articulated robot provided with a plurality of arms and joints. The manipulator 23 swings the first axis 26, which swivels the entire manipulator 23 around a vertical axis, and the arm 27, which swings the arm 27 back and forth with respect to the transfer direction of the portable robot device 2, and the arm 29, which swings up and down. The third axis 30, the fourth axis 32 that swings the wrist 31 arranged at the tip of the arm 29 up and down with respect to the arm 29, the fifth axis 33 and the wrist that rotate the wrist 31 with respect to the arm 29. It is composed of a sixth axis 34 that rotates 31 in a direction orthogonal to the fifth axis 33. Each of the above axes corresponds to a joint that swings or rotates each arm in a predetermined direction. However, the manipulator that can be used in the work supply / removal system 1 is not limited to such a vertical articulated robot.

A grip portion 35 for gripping the work W is attached to the tip of the wrist 31. The grip portion 35 shown in FIG. 1 is a claw-shaped handle, but can be configured by a suction chuck or the like. The gripping portion 35 can arbitrarily select the gripping method and shape depending on the form and material of the work W. A visual sensor 36 is attached to the wrist 31 along the extension direction of the sixth axis 34. The first axis 26, the second axis 28, the third axis 30, the fourth axis 32, the fifth axis 33, and the sixth axis 34 each include servomotors (not shown). The relative positions of the visual sensor 36 and the grip portion 35 are controlled with high accuracy, and the position of the grip portion 35 can be defined from the position of the visual sensor 36.

The visual sensor 36 can detect the first target mark 10, the second target mark 54, and the third target mark 55 as images in high definition. Specific examples thereof include a CCD image sensor (CCD camera) and a CMOS image sensor (CMOS camera), but the present invention is not particularly limited thereto. On the lower side of the manipulator 23 (inside the portable carriage 21), a controller 37 is arranged as a control means for controlling the entire manipulator 23 such as the operation of the manipulator 23 and the detection operation of the visual sensor 36. Next, the concept of the installation position of the portable robot device 2 with respect to the 1-enclosed frame mark 6 will be described with reference to FIG.

FIG. 2 is an explanatory diagram for explaining the concept of the installation position of the portable robot device 2 with respect to the first enclosed frame mark 6 and the installation position of the portable work stocker 3 with respect to the second enclosed frame mark 7. First, the concept of the installation position of the portable robot device 2 will be described. Note that FIG. 2 shows an example in which the portable robot device 2 is installed in two positions, and the manipulator 23 is not shown. For convenience, one is referred to as a portable trolley 21A and the other is referred to as a portable trolley 21B. The portable carriage 21A is inclined with respect to the wall surface 9 of the work device 4 and is arranged inside the inner line 6a of the first surrounding frame mark 6. The portable carriage 21B is an example of being arranged substantially parallel to the work device 4, and is similarly installed inside the inner line 6a of the first surrounding frame mark 6.

In FIG. 2, if the portable carriage 20 is transferred and installed somewhere inside the inner line 6a of the first surrounding frame mark 6, the visual sensor 36 can detect the first target mark 10. It shows that the manipulator 23 can perform the material feeding operation and the material removing operation with respect to the work device 4 of the work W. This will be described later with reference to FIG.

It is preferable that the plane dimension of the portable trolley 21 is small within a range in which the portable robot device 2 can be stably transferred. By doing so, if the outrigger 24 is closed, the portable robot device 2 can be transferred even in a narrow passage. When the portable robot device 2 is installed and driven, the outriggers 24 are turned and grounded on the floor surface 5.

3A and 3B are explanatory views showing the configuration and operation of the outrigger 24, FIG. 3A is a plan view, and FIG. 3B shows a state in which the outrigger 24 is rotated. Two sets of outriggers 24 are arranged on two opposing wall surfaces of the portable carriage 21.

The outrigger 24 includes an outrigger arm 40 that can rotate from the portable carriage 21 with the support shaft 39 as a rotation axis, and an outrigger post 41 that can be adjusted to an arbitrary height in the direction perpendicular to the floor surface 5 from the tip of the outrigger arm 40. There is. Although not shown, the outrigger post 41 is screwed into the outrigger arm 40, and the height positional relationship with the floor surface 5 can be adjusted by rotating the grip portion 43 at the upper end portion. A fixing nut 42 having a handle is screwed into the outrigger post 41 to fix the height position of the outrigger post 41. Alternatively, although not shown, the outrigger post 41 may be fixed by a fixing screw from the lateral direction at the threaded portion between the outrigger arm 40 and the outrigger post 41. When the portable robot device 2 is transferred, the outrigger arm 40 is closed on the wall surface side as shown in FIGS. 1 and 3A. When the portable robot device 2 is transferred to the inside of the first enclosure frame mark 6, the outrigger 24 is rotated along the floor surface 5 to an arbitrary position in the outward direction of the portable trolley 21. FIG. 3A shows one state in which the outrigger 24 is turned by a two-dot chain line.

Since the outrigger arm 40 can rotate the outrigger arm 40 at an arbitrary position in the plane direction, even if there is an obstacle on the floor surface 5 on which the portable robot device 2 is installed, the outrigger arm 24 rotates at a position avoiding the obstacle. It is possible. Further, since the outrigger post 41 can be adjusted to an arbitrary height, the posture of the portable robot device 2 is stabilized on the floor surface 5 even if the floor surface 5 is inclined or there is a slight step. Can be installed. The outriggers 24 can be configured in two sets or three sets. Further, if a brake is provided on the wheel 20 and the installation position and posture can be maintained by the weight of the portable robot device 2, the arrangement of the outrigger 24 can be omitted. It should be noted that the portable robot device 2 can supply and remove materials from the work W even if it is not installed strictly horizontally.

[Structure of portable work stocker 3]
Subsequently, the configuration of the portable work stocker 3 will be described with reference to FIG. The portable work stocker 3 is responsible for transporting the work W between the stock area, which is a storage place, and the portable robot device 2. The portable work stocker 3 is mainly composed of a housing 50 and a work pallet 51 arranged inside the housing 50. Wheels 52 are attached to the lower part of the housing 50. The work pallets 51 are arranged in a plurality of stages in the housing 50, and handles 49 for pulling out or pushing back the work pallets 51 from the housing 50 in the horizontal direction are attached. However, the work pallet 51 can be pulled out only in one stage, and a braking means (not shown) for maintaining the position of the pulled out work pallet 51 is provided. When the work pallet 51 of one stage is pulled out, the work pallet 51 of the other stage cannot be pulled out. A handle 53 for the operator to transfer the portable work stocker 3 is attached to the upper side of the housing 50.

A second target mark 54 is arranged on the surface of the housing 50 facing the portable robot device 2. The portable work stocker 3 is installed in the area inside the second surrounding frame mark 7 arranged on the floor surface 5. Like the first box frame mark 6, the second box frame mark 7 can be easily arranged by attaching a tape having a conspicuous color such as a so-called "tra tape" to the floor surface 5. Further, a third target mark 55 is arranged on the surface of the work pallet 51 on which the work W is placed. The arrangement of the third target mark 55 will be described later with reference to FIGS. 6 and 7.

Subsequently, the concept of the installation position of the portable work stocker 3 with respect to the second enclosed frame mark 7 will be described with reference to FIG. Note that FIG. 2 shows an example in which the portable work stocker 3 is installed in two places. For convenience, one is a portable work stocker 3A and the other is a portable work stocker 3B. Note that FIG. 2 shows the outer shape of the housing 50 of the portable work stocker 3. The portable work stocker 3A is inclined with respect to the second surrounding frame mark 7 and is arranged inside the inner line 7a of the second surrounding frame mark 7. On the other hand, the portable work stocker 3B is also installed inside the inner line 7a of the second surrounding frame mark 7.

If the portable work stocker 3 is transferred and installed in the area inside the second surrounding frame mark 7, that is, inside the inner outline line 7a, the visual sensor 36 can detect the second target mark 54. The manipulator 23 makes it possible to pick up the work W from the work pallet 51.

[Reference image data, reference posture data, and reference motion position data]
First, the acquisition of the reference image data, the reference posture data, and the reference operation position data, which are the reference data of the data referred to by the operation program of the manipulator 23, will be described with reference to FIGS. 4, 5, and 7.

FIG. 4 is a perspective view showing a situation in which the visual sensor 36 detects the first target mark 10, and FIG. 5 is a perspective view showing a situation in which the visual sensor 36 detects the second target mark 54. FIG. Is a perspective view showing a situation in which the visual sensor 36 detects the third target mark 55. In order to acquire each of the above-mentioned reference data, the coordinator of the work supply material system 1 first transfers the portable robot device 2 and installs it inside the first enclosure frame mark 6, and then the portable work stocker 3 Is transferred and installed inside the second surrounding frame mark 7. Then, the manipulator 23 is manually moved to a position where the first target mark 10 is within the field of view 56 of the visual sensor 36. When the visual sensor 36 detects the first target mark 10, the image data of the first target mark 10 and the posture data and the operation position data of the manipulator 23 when the image data is taken in are referred to as "reference posture data" and "reference posture data", respectively. It is taken into the controller 37 as "reference operation position data". The image data captured at this time is the reference image data for the first target mark 10.

Then, as shown in FIG. 5, the adjuster manually moves the manipulator 23 to a position where the second target mark 54 is within the field of view 56 of the visual sensor 36. When the visual sensor 36 detects the second target mark 54, the image data of the second target mark 54 and the attitude data and the operation position data of the manipulator 23 when the image data is taken in are taken into the controller 37. The image data captured at this time is the reference image data for the second target mark 54, the posture data is the reference posture data, and the operation position data is the reference operation position data.

Next, as shown in FIG. 7, the manipulator 23 is manually moved to a position where the third target mark 55 is within the field of view 56 of the visual sensor 36. When the visual sensor 36 detects the third target mark 55, the image data of the third target mark 55 and the attitude data and the operation position data of the manipulator 23 when the image data is taken in are taken into the controller 37. The image data captured at this time is the reference image data for the third target mark 55.

The posture data is data corresponding to the posture of the manipulator 23 when the visual sensor 36 detects the first target mark 10, the second target mark 54, and the third target mark 55, and is each of the data constituting the manipulator 23. It is a parameter indicating how the joint and each arm are correlated. Further, the operation position data is a grip portion for each position of the position where the manipulator 23 (grip portion 35) picks up the work W and the position where the material is supplied to the work device 4 (including the position where the material is removed from the work device 4). It is the data corresponding to each of the operation locus of 35, the position where the visual sensor 36 detects each of the target marks, and the operation locus. In this way, the reference motion is defined based on each reference image data, the reference posture data, and the reference motion position data when each target mark is captured. If the operation program drives the manipulator 23 with reference to each of these reference data, the visual sensor 36 can move the first target mark 10, the second target mark 54, and the third target mark 55 to a detectable position. It will be possible.

[Operation correction of manipulator 23]
If the portable robot device 2 is arranged inside the first enclosure framework 6 and the portable work stocker 3 is arranged inside the second enclosure framework 7, the visual sensor 36 has the first target mark 10 and the second target. By detecting the mark 54 and the third target mark 55, the posture data and the operation position data can be corrected from the image data, and the manipulator 23 can be operated. This will be described with reference to FIGS. 4, 5 and 7.

The portable robot device 2 will be described as being installed inside the first enclosed frame mark 6 at a position different from the reference image data acquisition position. First, as shown in FIG. 4, the manipulator 23 is driven by executing the operation program, and the visual sensor 36 is moved to a position where the first target mark 10 can be detected. The relative positional relationship between the visual sensor 36 and the first target mark 10 at that time is different from that when the reference image data is captured. When the visual sensor 36 detects the first target mark 10, the controller 37 takes in the image data of the first target mark 10 based on this, compares the image data with the reference image data, and works with the portable robot device 2. The amount of displacement relative to the device 4 is calculated by image processing. Then, the reference posture data and the reference operation position data set in advance based on this position deviation amount are offset (corrected) to obtain the attitude data and the operation position data (data group A) referred to by the operation program. Since the relative position between the work device 4 and the portable robot device 2 is defined by capturing the image data of the first target mark 10, the position of the machining stage 57 with respect to the portable robot device 2 is defined. Will be done. The amount of misalignment includes the distance and the direction.

Subsequently, as shown in FIG. 5, the manipulator 23 is driven by executing the operation program, and is moved to a position where the visual sensor 36 can detect the second target mark 54. The relative positional relationship between the visual sensor 36 and the second target mark 54 at this time is different from that when the reference image data is captured. When the visual sensor 36 detects the second target mark 54, the controller 37 takes in the image data of the second target mark 54, compares the image data with the reference image data, and makes the portable robot device 2 and the portable work stocker. The amount of displacement relative to 3 is calculated by image processing. Then, an offset (correction) is applied to the reference posture data and the reference operation position data preset based on the displacement amount, and this is used as the posture data and the operation position data referred to by the operation program (data group B). ). Next, the third target mark 55 is detected.

Before the operation of the visual sensor 36 to detect the third target mark 55, the manipulator 23 is driven and the handle 49 is gripped by the grip portion 35 to a position where the visual sensor 36 can detect the third target mark 55. Pull out the work pallet 51 from the housing 50.

FIG. 6 is a perspective view showing a situation in which the manipulator 23 pulls out the work pallet 51 from the housing 50. The portable work stocker 3 is arranged inside the second surrounding frame mark 7, and has a relationship in which the relative position with the portable robot device 2 is defined. A third target mark 55 is arranged on the work mounting surface 58 of the work pallet 51. The third target mark is arranged on each of the work pallets 51 arranged in a plurality of stages. Since the relative positional relationship between the housing 50 and the handle 49 is known, the relative positional relationship between the handle 49 and the portable robot device 2 can also be determined by back calculation. Therefore, if the manipulator 23 is driven by executing the motion program with reference to the posture data and the motion position data in which these are taken into consideration, the work pallet 51 can be pulled out or pushed back.

As shown in FIG. 7, after pulling out the work pallet 51, the manipulator 23 is driven by executing an operation program to move the manipulator 23 to a position where the visual sensor 36 can detect the third target mark 55. The relative positions of the visual sensor 36 and the third target mark 55 at this time are different from those when the reference image data is captured. When the visual sensor 36 detects the third target mark 55, the controller 37 takes in the image data of the third target mark 55 based on this, compares the image data with the reference image data, and performs the portable robot device 2 and the work. The amount of displacement relative to the pallet 51 is calculated by image processing. Then, an offset is applied to the reference posture data and the reference movement position data preset based on the displacement amount, and this is used as the posture data and the movement data referred to by the movement program (data group C).

The work W is placed at a predetermined position on the work mounting surface 58. Therefore, if the relative positions of the portable robot device 2 and the work pallet 51 are known, the position of each work W with respect to the portable robot device 2 can be defined. Therefore, the work W can be picked up in the programmed order by the operation program referring to and executing the posture data and the operation position data in addition to these. Further, in the example shown in the figure, the work stockers 51 are arranged in a plurality of stages in the housing 50, and the third target mark 55 is detected in each stage and the amount of deviation from the reference image data is determined. By repeating the operation of calculating and applying the offset, the work W can be picked up for each work palette stage.

The data group A, the data group B, and the data group C are combined by the controller 37, the work W is picked up from the portable work stocker 3, and the work W is supplied to the machining stage 57 of the work device 4 to work the work W after machining. The manipulator 23 is driven by executing a series of operation programs of removing material from the device 4.

FIG. 8 is a perspective view showing a situation in which the manipulator 23 picks up the work W. The manipulator 23 picks up the work W placed at a predetermined position according to the attitude data and the operation position data obtained by offsetting the reference attitude data and the reference operation position data by the grip portion 35. The wrist 31 having the grip portion 35 rotates according to the arrangement position and posture of the work W and picks up the work W. When the work pallet 51 is pulled out from the housing 50, the work pallet 51 may be tilted depending on the weight of the work pallet 51 and the weight of the work W. The manipulator 23 can pick up the work W even when the work pallet 51 is tilted, that is, when the work W is tilted. This will be described with reference to FIG.

FIG. 9 is a partial front view showing a situation in which the manipulator 23 picks up the work W. FIG. 9A shows a situation in which the work pallet 51 is horizontally pulled out from the housing 50, and FIG. 9B shows a situation in which the pulled out work pallet 51 is tilted by an angle θ with respect to the horizontal plane. Represents. In the situation where the work pallet 51 is pulled out horizontally, the wrist 31 is directed in the vertical direction, the grip portion 35 is moved downward to grip the work W, and the work W is moved upward to pick up the work W.

In a situation where the drawn work palette 51 is tilted by an angle θ with respect to the horizontal plane, the visual sensor 36 detects the third target mark 55, compares the acquired image data with the reference image data, and performs image processing. The inclination angle θ is calculated by. Therefore, by tilting the wrist 31 with respect to the vertical axis by an inclination angle θ, the work W can be reliably picked up by moving the wrist 31 in the direction perpendicular to the work mounting surface 58. That is, if the image data of the third target mark 55 is acquired with the work pallet 51 pulled out from the housing 50, the work W can be reliably picked up.

When the work pallet 51 is pulled out from the housing 50, the work pallet 51 may be inclined in the length direction or the width direction of the work pallet 51 as shown in FIG. 9B. When the work pallet 51 is tilted in various directions in this way, the work W is worked regardless of the tilt by detecting the third target mark 55 and correcting the tilt angle and tilt direction. The work W can be picked up by moving the wrist 31 in the direction perpendicular to the work mounting surface 58 of the pallet 51. Subsequently, the material feeding and material removing methods of the work W using the work material feeding / removing system 1 will be described with reference to FIG.

[Work W material supply and removal method]
FIG. 10 is a process flow chart showing the main steps of the material feeding and material removing methods of the work W. First, the portable work stocker 3 is transferred to the inside of the second enclosed frame mark 7 (step S1), and the portable robot device 2 is transferred to the inside of the first enclosed frame mark 6 (step S2). Either of the portable work stocker 3 and the portable robot device 2 may be transferred first.

When the portable robot device 2 is transferred to the inside of the first surrounding frame mark 6, the outrigger 24 is turned (step S3) to fix the position and posture of the portable robot device 2. Next, the manipulator 23 is activated, the first target mark 10 is detected by the visual sensor 36 (step S4), the image data of the first target mark 10 is compared with the reference image data, and the work device 4 and the portable robot device The amount of displacement relative to 2 is calculated (step S5). The posture data and the operation position data of the manipulator 23 are corrected based on this relative displacement amount (step S6). Here, the correction means that the preset reference posture data and the reference operation position data are offset and used as the attitude data and the operation position data referred to by the operation program.

Subsequently, the manipulator 23 is driven, the handle 14 is grasped by the grip portion 35, and the opening / closing door 13 of the work device 4 is opened (step S7). This operation is an operation for enabling the material supply of the work W, and is executed by the operation program. The opening / closing door 13 may be opened / closed by an operator. After opening the opening / closing door 13, the manipulator 23 is further driven, the second target mark 54 is detected by the visual sensor 36 (step S8), and the image data of the second target mark 54 is compared with the reference image data. The relative displacement amount between the portable work stocker 3 and the portable robot device 2 is calculated (step S9). Based on this relative displacement amount, the posture data and the operation position data of the manipulator 23 with respect to the portable work stocker 3 are corrected (step S10). Here, the correction means that the preset reference posture data and the reference operation position data are offset and used as the attitude data and the operation position data referred to by the operation program.

Next, the manipulator 23 pulls out the designated work pallet 51 (work pallet 51 on which the work W to be supplied is placed) (step S11). Further, the manipulator 23 is driven, the third target mark 55 is detected by the visual sensor 36 (step S12), and the image data of the third target mark 55 is compared with the reference image data, and the relative between the work palette 51 and the manipulator 23 is compared. The amount of misalignment is calculated (step S13). The operating position of the manipulator 23 with respect to the work pallet 51 is corrected based on this relative displacement amount (step S14). Here, the correction means that the preset reference posture data and the reference operation position data are offset and used as the attitude data and the operation position data referred to by the operation program. Subsequently, the designated work W (work W to be supplied) is picked up by the manipulator 23 (grip portion 35) (step S15), the work W is transferred to the processing stage 57 (step S16), and the opening / closing door 13 is opened. Close (step S17).

The work device 4 that recognizes that the opening / closing door 13 has been closed starts the processing work (or processing work, etc.) of the work W. When the machining of the work W is completed, the manipulator 23 is driven to open the opening / closing door 13 (step S19), the work W is picked up from the machining stage 57 (step S20), and the work pallet 51 is removed from the predetermined position, for example, the material is removed. The material is removed to the original position where the target work W is picked up (step S21). When a plurality of works W are placed on the work pallet 51, the steps S15 to S21 are repeated until the pickup of a predetermined number of works W is completed. The position for removing the work W is not a predetermined position in the work stocker 3, but may be another material removal pallet, another work stocker for removing material, or the like.

When the number of pickups and materials removed reaches a predetermined number, the manipulator 23 is further driven to push the work pallet 51 into the housing 50 (step S22). When the work pallet 51 has a plurality of stages, the steps S11 to S22 are repeated, and the opening / closing door 13 is closed when the material supply or removal of the work W mounted on the portable work stocker 3 is completed ( Step S23). If the work W needs to be replenished, the portable work stocker 3 is replaced (step S24). That is, the portable work stocker 3 on which the work W is mounted is transferred from the stock area to the inside of the second surrounding frame mark 7, and the steps S8 to S22 are repeated.

The steps from step S4 to step 23 described above are continuously and automatically executed by the operation program without human intervention.

Although not shown, the portable robot device 2 is provided with information means for exchanging status information with the work device 4. As the information means, for example, the visual sensor 36 reads the information exchange means through communication means such as wireless communication and wired communication, the information exchange means through the network, the display panel, the lamp, the operation panel and the switches provided in the work device. Image recognition means for determining is included. For example, when the work device 4 is provided with a communication means, when the work W is supplied to the work device 4, a "material supply end signal" is transmitted to the work device 4 via the communication means, and the "material supply end signal" is transmitted. The work device 4 that has received the "material supply end signal" starts the work. Alternatively, the visual sensor 36 can detect the "material supply end display" displayed on the display panel 12 of the work device 4, detect the lighting of the lamp at the end of material supply, and turn on / off the work device. The information means can be configured by operating the switch by the manipulator 23 and performing the start operation or the stop operation of the work device 4. Further, the work device 4 transmits to the portable robot device 2 via the communication means that the material supply of the work W to the work device 4 has been completed, or that the work such as predetermined processing or processing has been completed. The portable robot device 2 can also be configured as an information means for driving the manipulator 23 to open and close the opening / closing door 13. When the work device 4 is provided with a buzzer or the like, it is also possible to configure the information means by detecting the buzzer sound by the portable robot device 2 and causing the manipulator 23 to execute each of the above operations. ..

The work supply / removal system 1 described above is a work supply / removal system in which the work W is supplied and removed by the portable robot device 2 between the portable work stocker 3 and the work device 4. The portable robot device 2 includes a manipulator 23 mounted on the portable trolley 21, a visual sensor 36 attached to the manipulator 23, and a controller 37 as a control means for controlling the manipulator 23 and the visual sensor 36.

The portable robot device 2 is placed somewhere inside the first surrounding frame mark 6 provided on the floor surface 5, and the first target mark 10 is placed on the work device 4 detected by the visual sensor 36. The image data of the above is compared with the reference image data of the first target mark 10 stored in the controller 37, the relative position shift amount between the work device 4 and the portable robot device 2 is calculated, and the position shift is calculated. The reference posture data and the reference operation position data of the manipulator 23, which are preset based on the amount, are offset and used as the attitude data and the operation position data referred to by the operation program.

Further, the second target mark 55 arranged on the work stocker 3 detected by the visual sensor 36 in a state where the portable work stocker 3 is arranged somewhere inside the second surrounding frame mark 7 provided on the floor surface 5. The image data of the above is compared with the reference image data of the second target mark 54 stored in the controller 37, the relative displacement amount between the portable work stocker 3 and the portable robot device 2 is calculated, and the manipulator The reference attitude data and the reference operation position data of 23 are offset, and this is used as the attitude data and the operation position data referred to by the operation program.

Further, the image data of the third target mark 55 arranged on the work pallet 51 housed in the portable work stocker 3 detected by the visual sensor 36 and the reference of the third target mark 55 stored in the controller 37. The relative position shift amount between the work pallet 51 and the portable robot device 2 is calculated by comparing with the image data, and the reference posture data and the reference operation position data of the manipulator 23 preset based on the position shift amount. Is offset to obtain the attitude data and the operation position data referred to by the operation program.

The manipulator 23 picks up the work W from the portable work stocker 3 based on the posture data and the operation position data of the manipulator 23, supplies the work W to the work device 4, or removes the material from the work device 4.

The work supply material system 1 drives the manipulator 23 by executing an operation program with the portable robot device 2 placed inside the first surrounding frame mark 6, and is placed in the work device 4 by the visual sensor 36. The image data of the first target mark 10 is taken in, and the amount of misalignment is calculated by comparing the image data with the reference image data. Then, an offset is applied to the reference posture data and the reference operation position data preset based on the position deviation amount, and the manipulator 23 is driven as the attitude data and the operation position data referred to by the operation program.

Further, the manipulator 23 is driven by executing the operation program with the portable work stocker 3 arranged inside the second surrounding frame mark 7, and the visual sensor 36 drives the second target arranged on the portable work stocker 3. The amount of misalignment is calculated by taking in the image data of the mark 54 and comparing the image data with the reference image data. Then, the manipulator 23 is driven by applying an offset to the reference posture data and the reference operation position data preset based on the position deviation amount, and using this as the posture data and the operation position data referred to by the operation program.

Further, with the work pallet 51 pulled out from the housing 50, the manipulator 23 is driven by executing an operation program, and the visual sensor 36 captures the image data of the third target mark 55 arranged on the work pallet 51 and refers to it. The amount of misalignment is calculated by comparing with the image data. Then, an offset is applied to the reference posture data and the reference operation position data preset based on the position deviation amount, and the manipulator 23 is driven as the attitude data and the operation position data referred to by the operation program.

According to the hook supply / removal system 1 described above, the relative positions of the portable robot device 2 and the portable work stocker 3 and the work device 4 can be used without modifying the existing work device 4. It is possible to supply the work W to the work device 4 and remove the work W from the work device 4 without strictly defining the position relative to the portable robot device 2.

As the first target mark 10, the second target mark 54, and the third target mark 55 described in the present embodiment, common ones can be adopted, for example, a circle, a polygon, or both. It is possible to use a combination or a sticker in which a plurality of intersecting straight lines or circles and a combination of polygons and straight lines are drawn. Alternatively, it may be a piece-shaped three-dimensional object. It can be arranged at any position as long as it can be detected by the visual sensor 36 of the work device 4, the portable work stocker 3, and the work pallet 51.

Further, in the work supply material system 1, the portable robot device 2 is arranged inside the first enclosure frame mark 6, the portable work stocker 3 is arranged inside the second enclosure frame mark 7, and the initial manipulator 23 is arranged. In the setting, the reference image data and the reference operation position data related to the work device 4 are the first captured when the manipulator 23 is driven by manual operation and the visual sensor 36 is in a state where the first target mark 10 can be detected. It is the image data of the target mark 10 and the operation position data of the manipulator 23 in that state.

Further, the reference image data and the reference operation position data related to the portable work stocker 3 are taken in when the manipulator 23 is driven by manual operation and the visual sensor 36 becomes in a state where the second target mark 54 can be detected. 2 Image data of the target mark 54 and operation position data of the manipulator 23 in that state.

Further, the reference image data and the reference operation position data related to the work palette 51 drive the manipulator 23 by manual operation, and the third target captured when the visual sensor 36 becomes able to detect the third target mark 55. It is the image data of the mark 55 and the operation position data of the manipulator 23 in that state.

As described above, at the time of initial setting of the manipulator 23, the portable robot device 2 is arranged in the area inside the first enclosed flake mark 6, and the portable work stocker 3 is arranged in the area inside the second enclosed frame mark 7. The manipulator 23 is manually operated in the state of being arranged in the above, and the image data of the first target mark 10, the second target mark 54, and the third target mark 55 are taken in. Each of the image data is used as reference image data, the attitude data of the manipulator 23 at the time of importing each reference image data is used as reference posture data, and the operation position data is used as reference operation position data. The posture data and the movement position data of the manipulator 23 are defined by the reference posture data and the reference movement position data.

By comparing each of these reference image data with each image data captured during actual operation, the work device 4 and the portable robot device 2, and the portable work stocker 3 and the portable robot device can be combined. The relative displacement amount is calculated, and the operation position data when the actual image data is taken in from this displacement amount is offset (data correction), and this is referred to as the posture data and the operation position data that the operation program refers to. To do. This makes it possible to drive the manipulator 23 with respect to the portable work stocker 3 and the work pallet 51.

Further, the portable work stocker 3 has a housing 50 and a work pallet 51 arranged inside the housing 50, and the work W is placed at a predetermined position on the work mounting surface 58 of the work pallet 51. , The third target mark 55 is arranged at a position on the work mounting surface 58 that can be detected by the visual sensor 36.

The work pallets 51 are arranged in a plurality of stages, and a third target mark 55 is arranged for each stage. The positions and inclinations of the third target marks arranged for each work pallet 51 are not always the same. Therefore, the third target mark is detected by the visual sensor 36 for each work pallet 51, image data is acquired and compared with the reference image data, and for each work pallet 51, the relative between the work pallet 51 and the portable robot device 2 The amount of misalignment is calculated to correct the operating position data of the manipulator 23. By doing so, it is possible to reliably pick up the work W in all of the work pallets 51 arranged in a plurality of stages.

The manipulator 23 can pull out or push back the work pallets 51 arranged in a plurality of stages from the housing 50 in each stage in the horizontal direction. Then, the third target mark 55 is arranged at a position where the visual sensor 36 can detect the work pallet 51 with the work pallet 51 pulled out from the housing 50.

The manipulator 23 pulls out the work pallet 51 from the housing 50 and picks up the work W. At that time, the visual sensor 36 detects the third target mark 55 arranged on the work pallet 51 to be picked up by the work W, and from the detected image data, the position and inclination of the work pallet 51 in the plane direction and the height direction. It is possible to recognize the situation, correct the posture data and the operation position data of the manipulator 23 for each of a plurality of stages, and then pick up the work W. With such a configuration, it is possible to reliably pick up the work W that is tilted following the work tray W.

Further, the portable robot device 2 further includes information means for recognizing the status information of the work device 2, and the controller 37, which is a control means, operates the manipulator 23 with respect to the work device 4 and the portable work stocker 3 based on the status information. To control. As information means, for example, information exchange means through communication means such as wireless communication and wired communication, information exchange means through network, display panel 12, lamp, operation panel 11 and switches provided in the work device 4 are visually sensors. An image recognition means for reading and determining in 36 is included.

By providing the information means in the portable robot device 2 in this way, information such as the material supply status and the processing status of the work W is exchanged between the work device 4 and the portable robot device 2, and the manipulator 23 uses the manipulator 23 to exchange information. The opening / closing operation of the opening / closing door 13, the starting operation and the stopping operation of the working device 4 can be performed without human intervention.

Further, the portable robot device 2 includes a portable trolley 21 having wheels 20 at the lower portion, a manipulator 23 mounted on the portable trolley 21, a visual sensor 36 attached to the manipulator 23, and a manipulator 23 and a visual sensor 36. It is provided with a controller 37 which is a control means for controlling. The visual sensor 36 detects and captures the first target mark 10, the second target mark 54, and the third target mark 55, compares each image data corresponding to the captured target mark with each reference image data, and compares the portable robot. The relative misalignment amount between the device 2 and the work device 4 and the portable work stocker 3 is calculated, and the preset reference posture data and the reference operation position data are corrected based on each misalignment amount, and the manipulator 23 is used. Drive.

The first target mark 10 is in a state where the portable robot device 2 is arranged at an arbitrary position inside the first enclosed frame mark 6 and the portable work stocker 3 is arranged at an arbitrary position inside the second enclosed frame mark 7. , The second target mark 54 and the third target mark 55 are detected by the visual sensor 36, the acquired image data is compared with the reference image data, and the work device 4 and the portable robot device 2, the portable work stocker 51 and the work are compared. Each relative misalignment amount between the pallet 51 and the portable robot device 2 is calculated. Then, the manipulator 23 is controlled by correcting each relative displacement amount. With this configuration, if the portable robot device 2 is transferred to the inside of the first enclosure frame mark 6 and the portable work stocker 3 is arranged inside the second enclosure frame mark 7, the existing work Feeding work W from the portable stocker 3 to the work device 4 and working without modifying the device 4 and without strictly defining the relative position with the work device 4 or the portable work stocker 3. It is possible to remove the material from the device 4 to the portable work stocker 3.

Further, the portable trolley 21 includes an outrigger 24 that fixes the position and posture of the portable trolley 21 in a stationary position, and the outrigger 24 can rotate from the portable trolley 21 to an arbitrary position in a plurality of directions along the floor surface 5. The outrigger post 41 is screwed into the tip of the outrigger arm 40 and the outrigger arm 40, and can be expanded and contracted to a height position that is adjustable to a height position that abuts on the floor surface 5 or is separated from the floor surface 5.

By providing the outrigger 24, it is possible to stably install the position and posture during operation even if the portable trolley 21 is miniaturized. If the outrigger 24 is closed, the portable robot device 2 can be easily transferred even in a narrow space. Further, since the outrigger arm 40 can rotate the outrigger arm 40 at an arbitrary position in the plane direction, even if there is an obstacle on the floor surface 5 on which the portable robot device 2 is installed, the position avoids the obstacle. It can be installed. Further, since the outrigger post 41 can be expanded and contracted to the desired height, the portable robot device 2 can be installed in a stable posture even if the floor surface 5 is inclined.

Further, in the portable work stocker 3, the work pallets 51 on which the work W is placed are arranged in a plurality of stages inside the housing 50 having the wheels 52 at the lower part. The work pallet 51 has a configuration that can be pulled out and pushed back from the housing 50 in the horizontal direction for each step. The housing 50 is provided with the second target mark 54, and the work mounting surface 58 of the work pallet 51 is provided with the third target mark 55. When the portable work stocker 3 is arranged inside the second enclosed frame mark 7, the second target mark 54 and the third target mark 55 are the portable robot device 2 installed inside the first enclosed frame mark 6. It is arranged at a position where the visual sensor 36 of the above can be detected.

With such a configuration, if the portable work stocker 3 is installed at an arbitrary position inside the second surrounding frame mark 7, it is possible to detect the position of the work pallet 51 and the posture including the inclination. As a result, the portable robot device 2 can pull out the work pallet 51 from the housing 50 and push it back, and continues to supply and remove the work W until a predetermined quantity is reached without human intervention. It becomes possible. From the above, it is possible to pick up the work W and remove the material without strictly defining the position of the portable work stocker 3 relative to the portable robot device 2. It is possible to use only one stage of the work pallet 51 as a work mounting surface. Further, the top plate of the housing 50 can be used as a work mounting surface.

1 ... Work supply / removal system, 2 ... Portable robot device, 3 ... Portable work stocker, 4 ... Work device, 5 ... Floor surface, 6 ... 1st surrounding frame mark, 10 ... 1st target mark, 12 ... Display Panel, 13 ... Opening and closing door, 20, 52 ... Wheel, 21 ... Portable trolley, 23 ... Manipulator, 24 ... Out trigger, 26 ... 1st axis, 27, 29 ... Arm, 28 ... 2nd axis, 30 ... 3rd axis , 31 ... wrist, 32 ... 4th axis, 33 ... 5th axis, 34 ... 6th axis, 35 ... grip, 36 ... visual sensor, 37 ... controller (control means), 40 ... out trigger arm, 41 ... out trigger post , 50 ... Housing, 51 ... Work pallet, 54 ... Second target mark, 55 ... Third target mark, 57 ... Machining stage, 58 ... Work mounting surface, W ... Work, θ ... Tilt angle

Claims (8)

A work supply / removal system that supplies and removes workpieces between a portable work stocker and a work device using a portable robot device.
The portable robot device includes a manipulator mounted on a portable trolley, a visual sensor attached to the manipulator, and control means for controlling the manipulator and the visual sensor.
(1) With the portable robot device placed somewhere inside the first surrounding frame mark provided on the floor surface, the first target mark placed on the work device detected by the visual sensor. The image data is compared with the reference image data of the first target mark stored in the control means, the relative position shift amount between the work device and the portable robot device is calculated, and the position shift is calculated. An offset is applied to the reference posture data and the reference operation position data of the manipulator that are preset based on the amount, and this is used as the attitude data and the operation position data referred to by the operation program.
(2) With the portable work stocker placed somewhere inside the second surrounding frame mark provided on the floor surface, the second target mark placed on the work stocker detected by the visual sensor. The image data is compared with the reference image data of the second target mark stored by the control means, the relative position shift amount between the work stocker and the portable robot device is calculated, and the position shift is calculated. The reference attitude data and the reference operation position data preset based on the quantity are offset to obtain the attitude data and the operation position data referred to by the operation program, and
(3) The image data of the third target mark arranged on the work palette housed in the portable work stocker detected by the visual sensor, and the reference of the third target mark stored by the control means. By comparing with the image data, the relative displacement amount between the work pallet and the portable robot device is calculated, and the reference posture data and the reference operation position data preset based on the displacement amount are used. By applying an offset, this is used as the attitude data and the operation position data that the operation program refers to.
(4) The manipulator picks up the work from the portable work stocker based on the corrected posture data and operation position data of the manipulator, supplies the work to the work device, or removes the material from the work device.
A work supply / removal system characterized by this. In the work supply / removal system according to claim 1,
The portable robot device is arranged inside the first enclosed frame mark, the portable work stocker is arranged inside the second enclosed frame mark, and in the initial setting of the manipulator, the portable robot device is arranged.
The reference image data and the reference operation position data related to the work apparatus are taken in when the manipulator is driven by manual operation and the visual sensor is in a state where the first target mark can be detected. It is the image data of the target mark and the operation position data of the manipulator in that state.
The reference image data and the reference operation position data related to the portable work stocker are taken in when the manipulator is driven by a manual operation and the visual sensor becomes in a state where the second target mark can be detected. It is the image data of the second target mark and the operation position data of the manipulator in that state.
The reference image data and the reference operation position data related to the work palette are taken in when the manipulator is driven by a manual operation and the visual sensor is in a state where the third target mark can be detected. Image data of the target mark and operation position data of the manipulator in that state.
A work supply / removal system characterized by this. In the work supply / removal system according to claim 1 or 2.
The portable work stocker has a housing and the work pallet disposed inside the housing.
The work is placed at a predetermined position on the work mounting surface of the work pallet.
The third target mark is arranged at a position on the work mounting surface where the visual sensor can be detected.
A work supply / removal system characterized by this. In the work supply / removal system according to any one of claims 1 to 3.
The manipulator can pull out or push back the work pallets arranged in a plurality of stages horizontally from the housing for each stage.
The third target mark is arranged at a position where the visual sensor can detect the work pallet with the work pallet pulled out from the housing.
A work replenishment material system characterized by this. In the work replenishment material system according to any one of claims 1 to 4.
The portable robot device includes information means for recognizing status information of the work device.
The control means controls the operation of the manipulator with respect to the work apparatus and the work stocker based on the situation information.
A work supply / removal system characterized by this. A portable robot device that constitutes the work supply / removal system according to any one of claims 1 to 5 and is responsible for the material supply operation and the material removal operation of the work.
A portable trolley with wheels at the bottom,
The manipulator mounted on the portable trolley and
A visual sensor attached to the manipulator and
The control means for controlling the manipulator and the visual sensor, and
With
The visual sensor detects and captures the first target mark, the second target mark, and the third target mark, and compares each image data corresponding to the captured target mark with each reference image data, and performs the work. The relative displacement amount between the device and the portable work stocker is calculated, and the reference posture data and the reference operation position data preset based on the displacement amount are corrected to drive the manipulator. To do,
A portable robot device characterized by this. In the portable robot device according to claim 6.
The portable trolley includes an outrigger that fixes the position and posture of the portable trolley at a position where the portable trolley is stationary.
The outrigger is screwed into an outrigger arm that can rotate from the portable trolley to an arbitrary position in a plurality of directions along the floor surface and a tip portion of the outrigger arm, and is screwed into a height position that abuts on the floor surface or the floor surface. Equipped with an adjustable outrigger post at a height away from
A portable robot device characterized by this. A portable work stocker that constitutes the work material supply system according to any one of claims 1 to 5 and is responsible for transporting the work.
The work pallets on which the work is placed are arranged in a plurality of stages inside a housing having wheels at the bottom.
The work pallet can be pulled out or pushed back from the housing in each step in the horizontal direction.
The housing is provided with the second target mark, the work mounting surface of the work pallet is provided with the third target mark, and the portable work stocker is arranged inside the second surrounding frame mark. At that time, the second target mark and the third target mark are configured to be arranged at positions where the visual sensor of the portable robot device installed inside the first surrounding frame mark can be detected. ,
A portable work stocker that features this.

Images