JP4989554B2 - Transport system - Google Patents

Description

  The present invention relates to a transport system. Specifically, the present invention relates to a transport system that grips a work and transports the work from a predetermined start position to an end position.

  An automobile production line is provided with a conveyance system for conveying a workpiece such as a panel or a part from a predetermined start position to a predetermined end position. The transfer system includes a gripping tool that grips a workpiece, and an articulated robot arm that transports the workpiece gripped by the gripping tool by changing the position and posture of the gripping tool in a three-dimensional space. Is done.

  The gripping tool is formed with a plurality of gripping pins arranged in a predetermined manner, while the workpiece is formed with a plurality of pin insertion holes in accordance with the placement mode of these gripping pins. When gripping a workpiece with this gripping tool, the articulated robot arm is operated to bring the gripping tool closer to the workpiece, and a plurality of gripping pins formed on the gripping tool are inserted into the pin insertion holes.

  On the other hand, in recent years, for the purpose of downsizing the production line and reducing the cost of equipment, it is desired to make the production line versatile so that a plurality of types of vehicles can be produced on the same production line. Therefore, in the following, a technique for improving versatility in the above-described transport system will be examined.

For example, Patent Document 1 discloses a transport system in which one of two grip pins formed on a grip tool is provided so as to be movable with respect to the other grip pin. According to this transport system, even when the arrangement mode of the pin insertion holes formed in the workpiece is different for each vehicle type, it is possible to cope by moving the grip pins. That is, a single gripping tool can handle a plurality of types of vehicle workpieces.
JP 2000-190884 A

  However, even if a common gripping tool can be used between different vehicle types in this way, the teaching of the articulated robot arm that changes the position and posture of the gripping tool must be adjusted for each vehicle type. There is a problem that it takes time and effort. This problem will be described in detail with reference to FIG.

  FIG. 8 shows a state in which the workpiece WA of the vehicle type A is gripped by the same articulated robot arm 110 and the gripping tool 120 ((a) in FIG. 8) and a state in which the workpiece WB of the vehicle type B is gripped (( It is the schematic diagram which planarly viewed b)).

  FIG. 8 shows an example in which substantially rectangular workpieces WA and WB are gripped by a gripping tool 120 including two gripping pins P1 and P2. Further, the positions of the pin insertion holes WAP1 and WAP2 and the pin insertion holes WBP1 and WBP2 into which the grip pins P1 and P2 are inserted are different between the work A of the vehicle type A and the work WB of the vehicle type B, respectively.

  As shown in FIG. 8, when the positions of the pin insertion holes WAP1 and WAP2 and the pin insertion holes WBP1 and WBP2 are different between the two types of workpieces WA and WB, the position and posture of the gripping tool 120 are also different. Therefore, the operation of the articulated robot arm 110 that changes the position and posture of the gripping tool 120 needs to be changed according to the workpieces WA and WB. For this reason, the teaching man-hour of the articulated robot arm 110 increases, and there is a possibility that the working efficiency may be lowered. In particular, since the articulated robot arm 110 may require setting of a plurality of joints in order to set one motion, it may take a great deal of effort as the number of teaching steps increases.

  It is an object of the present invention to provide a transfer system that eliminates the need for teaching an articulated robot arm that matches a vehicle type.

  The transfer system of the present invention (for example, a transfer system 1, 1A described later) has a gripping tool (for example, a gripping tool 30 described later) that holds a plurality of types of workpieces (for example, workpieces W1, W2,..., Wn described later). And a robot arm (for example, an articulated arm 13 to be described later) that supports the gripping tool on the distal end side and changes the position and posture of the gripping tool in the three-dimensional space. A transport system for gripping at a predetermined start position by the grip tool and transporting the grip tool to a predetermined end position, wherein the grip tool is rotated at least with respect to the tip side of the robot arm (for example, described later) Of the gripping tool support mechanism 40 and the tool rotating device 70) and the distal end side of the robot arm from the start position to the end position. Robot arm command information common to the plurality of types of workpieces (for example, arm command data described later) and the plurality of types of workpieces for gripping the plurality of types of workpieces at the start position. Command storage means (for example, to be described later) that stores gripping tool command information (for example, to be described later, gripping tool command data) including the phase of the gripping tool (for example, a rotation phase of the gripping tool 30 to be described later) corresponding to each. And a control means for controlling the robot arm, the gripping tool, and the gripping tool rotating means based on the robot arm command information and the gripping tool command information stored in the command storage means. (For example, a control signal output unit 62 of the control device 60 described later).

According to the present invention, a gripping tool that grips a plurality of types of workpieces, a robot arm that changes the position and posture of the gripping tool, and a gripping tool rotation unit that rotates the gripping tool at least with respect to the distal end side of the robot arm. Was provided. In addition, the robot arm command information common to multiple types of workpieces to move the tip side of the robot arm from the start position to the end position, and these multiple types of workpieces for gripping multiple types of workpieces at the start position Are stored in the command storage means, and the robot arm, the gripping tool, and the gripping tool rotating means are stored on the basis of the robot arm command information and the gripping tool command information. Controlled.
Here, for example, as a plurality of types of workpieces to be gripped by the gripping tool, those that can be gripped by rotating the gripping tool with respect to the robot arm are prepared. As a result, the gripping tool rotation means is controlled based on the gripping tool command information, and the gripping tool is rotated by the phase of the gripping tool corresponding to each workpiece to grip the workpiece at the start position, which is common to multiple types of workpieces. By controlling the robot arm based on the robot arm command information, the gripped work can be conveyed to the end position. In particular, here, by controlling the robot arm based on the robot arm command information common to a plurality of types of workpieces, teaching of the robot arm according to the type of workpiece becomes unnecessary, so that productivity can be improved.

  According to the transport system of the present invention, the gripping tool rotation unit is controlled based on the gripping tool command information, and the workpiece is gripped at the start position by rotating the gripping tool by the phase of the gripping tool corresponding to each workpiece, By controlling the robot arm based on the robot arm command information common to a plurality of types of workpieces, the gripped workpiece can be conveyed to the end position. In particular, here, by controlling the robot arm based on the robot arm command information common to a plurality of types of workpieces, teaching of the robot arm according to the type of workpiece becomes unnecessary, so that productivity can be improved.

<First Embodiment>
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a first embodiment of the invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing a configuration of a transport system 1 according to the present embodiment.
The conveyance system 1 is provided, for example, in an automobile manufacturing factory, grips a substantially flat workpiece W on one line 2 at a predetermined start position, and conveys it to a predetermined end position on another line 3. The transport system 1 includes a transport robot 10 that grips the workpiece W and transports the gripped workpiece W, and a control device 60 that controls the transport robot 10. In addition, although this embodiment demonstrates the case where the door panel of a motor vehicle is used as the workpiece | work W, it is not restricted to this.

  The transfer robot 10 includes a robot main body 11 attached to a floor surface, and a multi-joint arm 13 as a robot arm pivotally supported by the robot main body 11. The articulated arm 13 has six axes, and a gripping tool unit 20 is pivotally supported on the distal end side of the articulated arm 13.

  The articulated arm 13 includes a first arm part 131, a second arm part 132, a third arm part 133, a fourth arm part 134, and a fifth arm part 135 in order from the robot body 11 side.

  The first arm 131 extends substantially linearly and is pivotally supported by the robot body 11. The robot body 11 rotates the first arm portion 131 about an axis extending in a substantially vertical direction as a rotation center.

  The second arm portion 132 extends substantially linearly and is pivotally supported by the first arm portion 131. The first arm portion 131 rotates the second arm portion 132 with a driving mechanism (not shown) about the direction intersecting the extending direction of the first arm portion 131 as the rotation center. As a result, the angle formed by the extending direction of the first arm 131 and the extending direction of the second arm 132 changes.

  The third arm portion 133 extends substantially linearly and is pivotally supported by the second arm portion 132. The second arm portion 132 rotates the third arm portion 133 with a driving mechanism (not shown) about the direction intersecting the extending direction of the second arm portion 132 as the rotation center. As a result, the angle formed by the extending direction of the second arm portion 132 and the extending direction of the third arm portion 133 changes.

  The fourth arm part 134 extends substantially linearly and is pivotally supported by the third arm part 133. The third arm part 133 rotates the fourth arm part 134 about the extending direction of the third arm part 133 as a rotation center by a driving mechanism (not shown).

The fifth arm 135 extends substantially linearly and is pivotally supported by the fourth arm 134. The fourth arm portion 134 rotates the fifth arm portion 135 about the extending direction of the fourth arm portion 134 as a rotation center by a driving mechanism (not shown).
Further, an automatic tool changer 43 (see FIG. 2) described later of the gripping tool unit 20 is connected to the distal end side of the fifth arm portion 135. The fifth arm portion 135 rotates the gripping tool unit 20 around a shaft extending in the extending direction of the fifth arm portion 135 by a driving mechanism (not shown).

  The transfer robot 10 changes the position and posture of the gripping tool unit 20 in the three-dimensional space by the multi-joint arm 13 including the plurality of arms 131 to 135 as described above.

FIG. 2 is a perspective view showing the configuration of the gripping tool unit 20.
The gripping tool unit 20 includes a gripping tool 30 that grips the workpiece W, and a gripping tool support mechanism 40 that supports the gripping tool 30. In FIG. 2, the workpiece W is illustrated above the gripping tool unit 20 in order to clarify the gripping tool unit 20, but when gripping the workpiece W with the gripping tool unit 20, the gripping tool unit 20 is illustrated. 20 is approached from above the workpiece W.

The gripping tool 30 includes a substantially equilateral triangular tool substrate 31 and gripping devices 33A, 33B, and 33C provided at three vertices of the tool substrate 31, respectively.
Each of these gripping devices 33A, 33B, and 33C includes a gripping pin, 34A, 34B, and 34C, and a gripping pin drive unit 35A, 35B, and 35C that expands the distal end side of the gripping pins 34A, 34B, and 34C. Composed.

FIG. 3 is a cross-sectional view showing the configuration of the distal end side of the grip pin 34A. More specifically, FIG. 3A shows a state where the grip pin 34A is closed, and FIG. 3B shows a state where the grip pin 34A is opened.
The grip pin 34A has a cylindrical shape, and the tip side is divided. Inside the grip pin 34A, a rod 36A having a swelled tip is provided so as to advance and retreat.

The rod 36A is advanced by the above-described gripping pin drive unit 35A, and the tip of the rod 36A is pushed into the tip of the gripping pin 34A, whereby the tip of the rod 36A expands the tip of the gripping pin 34A and grips. The outer diameter of the tip end side of the pin 34A is increased (see FIG. 3B).
On the other hand, when the rod 36A is retracted and the distal end portion of the rod 36A is returned to the proximal end side of the gripping pin 34A, the outer diameter of the gripping pin 34A distal end side returns to the original size by the restoring force of the gripping pin 34A ( (See (a) of FIG. 3).
Although illustration and description thereof are omitted, the gripping devices 33B and 33C have the same configuration as the gripping device 33A as described above.

  Returning to FIG. 2, the gripping devices 33A, 33B, and 33C as described above are configured so that the gripping pins 34A, 34B, and 34C are perpendicular to the tool substrate 31 and the three gripping pins 34A, 34B, 34C is provided so as to be the apex of an equilateral triangle in a plane parallel to the tool substrate 31 (see FIG. 5 described later). Hereinafter, an axis extending perpendicularly to the tool substrate 31 and passing through the center of an equilateral triangle constituted by the grip pins 34A, 34B, and 34C will be referred to as a center axis O of the grip tool 30.

On the other hand, the work W is formed with three pin insertion holes PA, PB and PC into which the three grip pins 34A, 34B and 34C can be respectively inserted.
That is, when the workpiece W is gripped by the gripping tool 30, the grip pins 34A, 34B, 34C are inserted into the pin insertion holes PA, PB, PC, and the grip pins 34A, 34B, 34C are further expanded. The front ends of the grip pins 34A, 34B, 34C are locked in the pin insertion holes PA, PB, PC.

  The gripping tool support mechanism 40 includes a support mechanism main body 41 that rotatably supports the tool substrate 31, a motor 42 that rotates the tool substrate 31 supported by the support mechanism main body 41, the support mechanism main body 41, and the articulated arm 13. And an automatic tool changer (ATC) 43 that connects the front end side of each.

  The support mechanism main body 41 includes a motor case 411 that accommodates the motor 42, a substantially cylindrical first cylindrical portion 412 that is rotatably supported by the motor case 411, and one end side thereof fixed to the tool substrate 31. A substantially cylindrical second drum portion 413 whose end side is fixed to the first drum portion 412.

The first drum section 412 and the second drum section 413 are rotatable about the central axis O of the gripping tool 30 as a rotation axis.
The motor 42 rotates the gripping tool 30 together with the first drum section 412 and the second cylinder section 413 about the central axis O as a rotation axis. Thereby, the gripping tool 30 can be rotated with respect to the distal end side of the articulated arm 13. That is, the phase of the gripping tool 30 with respect to the distal end side of the articulated arm can be changed.

  In addition, the support mechanism main body 41 is provided with a lock mechanism (not shown) that fixes the rotation of the gripping tool 30 relative to the first drum section 412, so that the gripping tool 30 can be fixed at a predetermined phase. Yes.

With reference to FIG.1 and FIG.2, the procedure which conveys the workpiece | work W from a predetermined | prescribed start position to an end position by the above conveyance systems 1 is demonstrated.
The procedure for transporting the workpiece W includes an acquisition step for acquiring the workpiece W at the start position by the transport robot 10, a gripping step for gripping the workpiece W at the start position, and moving the gripped workpiece W to the end position. It includes four steps: a moving step and an end step of releasing the gripped workpiece W at the end position.

  More specifically, in the acquisition step, first, the articulated arm 13 is controlled to bring the gripping tool 30 close to the work W while the tool substrate 31 and the work W are parallel, and the gripping pins 34A, 34B, and 34C are pinned. Insert into insertion holes PA, PB, PC. At this time, the gripping tool unit 20 is controlled so that the gripping pins 34A, 34B, and 34C are gripped by a rotation phase, which will be described later, set in advance according to the workpiece W so as to match the pin insertion holes PA, PB, and PC. The tool 30 is rotated, and the gripping tool 30 is fixed at this phase by a lock mechanism.

  Next, in the gripping process, the workpiece W is gripped by expanding the grip pins 34A, 34B, 34C and locking the grip pins 34A, 34B, 34C to the pin insertion holes PA, PB, PC.

Next, in the moving step, the articulated arm 13 is controlled to move the workpiece W on the tip side of the articulated arm 13 from the start position to the end position.
Next, in the opening process, the grip pins 34A, 34B, 34C are closed with the workpiece W placed at the end position, and the grip pins 34A, 34B, 34C are removed from the pin insertion holes PA, PB, PC, and the process ends. .

  As described above, a series of operations of the transfer robot 10 when transferring the workpiece W is configured by combining the operation of the articulated arm 13 and the operation of the gripping tool unit 20. In the present embodiment, the operation of the articulated arm 13 related to the transfer of the workpiece W is referred to as “arm operation”, and the operation of the gripping tool unit 20 is referred to as “gripping tool operation”.

FIG. 4 is a block diagram illustrating a configuration of the control device 60.
The control device 60 includes a CPU, a ROM, a RAM, a hard disk, and the like, and includes a plurality of control blocks that function according to the hardware configuration. Specifically, the control device 60 controls the transfer robot 10 based on the storage unit 61 as command storage means for storing various command data (teaching data) that defines the operation of the transfer robot 10 and the teaching data. And a control signal output unit 62 as control means for outputting.

  The storage unit 61 includes arm command data that defines the arm operation related to the transfer of each work, and the transfer of each work with respect to the transfer of n types of workpieces W1, W2,. Grasping tool command data defining the gripping tool operation is stored.

  Based on the arm command data and gripping tool command data stored in the storage unit 61, the control signal output unit 62 controls the gripping tool 30 and the gripping tool support mechanism 40 of the gripping tool unit 20 and the articulated arm 13. And the gripping tool 30, the gripping tool support mechanism 40, and the articulated arm 13 are controlled.

Next, with reference to FIG. 5, the difference between these arm command data and gripping tool command data when transporting different types of workpieces will be described.
FIG. 5 is a front view showing the configuration of two types of workpieces Wa (FIG. 5A) and workpiece Wb (FIG. 5B) among the above-described plural types of workpieces W1, W2,. FIG. More specifically, FIG. 5 is a plan view of the workpiece Wa (FIG. 5A) and the workpiece Wb (FIG. 5B) in a state where they are placed at a common start position on the line 2. FIG.

As shown in FIG. 5, when the workpieces Wa and Wb transported by the transport robot 10 of the present embodiment are compared, the center WOa of the three pin insertion holes PAa, PBa and PCa in the workpieces Wa and Wb at the start position and the pin insertion The positions of the holes PAb, PBb, PCb and the center WOb are common.
Further, the positions of the three pin insertion holes PAa, PBa, and PCa are different from the positions of the pin insertion holes PAb, PBb, and PCb. That is, the phase differences θa and θb between the gripping tool 30 and the workpieces Wa and Wb are different.

  Here, the phase differences θa and θb between the gripping tool 30 and each of the workpieces Wa and Wb mean that the central axis O of the gripping tool 30 is the center WOa of the pin insertion holes PAa, PBa, PCa and the pin insertion holes PAb, PBb, PCb. , The angle formed by each of the holding pins 34A, 34B, 34C and the pin insertion holes PAa, PBa, PCa and the pin insertion holes PAb, PBb, PCb in a state matched with WOb.

  Therefore, in the above-described acquisition process, gripping process, moving process, and end process, it is only the gripping tool operation in the acquisition process that needs to change the operation of the transfer robot 10 when the type of workpiece is different. The gripping tool operation and the arm operation in this process can be made common. That is, when conveying different types of workpieces Wa and Wb, it is only necessary to change the rotation phase of the gripping tool 30 in the acquisition process, that is, only the phase differences θa and θb between the gripping tool 30 and the workpieces Wa and Wb. .

Therefore, in the present embodiment, as shown in FIG. 4, as the arm command data stored in the storage unit 61, the common data for the workpieces W1, W2,.
Further, as the gripping tool command data, gripping tool command data for each workpiece including the rotational phases θ1, θ2,..., Θn of the gripping tool 30 corresponding to the workpieces W1, W2,. Thereby, only the rotation phase of the gripping tool 30 in the acquisition process can be changed according to the workpiece, and other arm operations and gripping tool operations can be made common.

According to this embodiment, there are the following effects.
(1) A gripping tool unit 20 that grips a plurality of types of workpieces W1, W2,..., Wn, and a gripping tool support mechanism 40 that rotates the gripping tool 30 relative to the distal end side of the articulated arm 13. And composed. Further, arm command data common to a plurality of types of workpieces W1, W2,..., Wn for moving the tip side of the articulated arm 13 from the start position to the end position, and a plurality of types of workpieces W1, W2 at the start position. ,..., Wn, and gripping tool command data including rotational phases θ1, θ2,..., Θn of the gripping tool 30 corresponding to each of these plural types of workpieces are stored in the storage unit 61 of the control device 60. The articulated arm 13 and the gripping tool unit 20 were controlled based on these arm command data and gripping tool command data.

6 shows a state in which the workpiece Wa shown in FIG. 5A is gripped by the gripping tool 30 (FIG. 6A) and a state in which the workpiece Wb shown in FIG. 5B is gripped (in FIG. 6). It is a perspective view of the conveyance system 1 which shows (b).
As shown in FIGS. 6A and 6B, the workpieces Wa and Wb are gripped by rotating the gripping tool 30 with respect to the articulated arm 13 as described above. By simply changing the rotation phase of the tool 30, the workpieces Wa and Wb can be gripped with the motion of the articulated arm 13 in common. Therefore, when conveying a plurality of types of workpieces, teaching of the articulated arm 13 according to the types of workpieces is not required, and thus productivity can be improved.

Second Embodiment
Next, a second embodiment of the present invention will be described with reference to FIG. In the following description of the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted or simplified.
The transfer system 1A of the present embodiment is configured such that the gripping tool 30 is rotated by the tool rotating device 70 provided separately from the transfer robot 10A without providing the gripping tool unit 20 with a motor that rotates the gripping tool 30. However, it differs from the structure of the conveyance system 1 of 1st Embodiment.

FIG. 7 is a perspective view showing the configuration of the transport system 1A according to the present embodiment.
The tool rotating device 70 includes a base 71 provided in the vicinity of the transfer robot 10 </ b> A, and a turntable 72 provided rotatably on the base 71.
The turntable 72 is formed with three pin support holes 73A, 73B, 73C into which the three grip pins 34A, 34B, 34C of the grip tool 30 can be respectively inserted.
The base 71 is provided with a motor (not shown) that rotates the turntable 72 about the center of an equilateral triangle formed by these pin support holes 73A, 73B, 73C as a rotation axis.

A procedure for transporting the workpiece W from a predetermined start position to an end position by the transport system 1A as described above will be described.
The procedure for transporting the workpiece W includes a tool rotating step for rotating the gripping tool 30 by the tool rotating device 70 and an acquisition step for acquiring the workpiece W to the start position by the transport robot 10A, and a gripping for gripping the workpiece W. It includes five steps: a step, a moving step of moving the gripped workpiece W to the end position, and an end step of releasing the gripped workpiece W at the end position.

  More specifically, first, in the tool rotation process, the articulated arm 13 is controlled to insert the grip pins 34A, 34B, 34C of the grip tool 30 into the pin support holes 73A, 73B, 73C of the turntable 72. Further, the tool rotating device 70 is controlled so that the gripping pins 34A, 34B, 34C are gripped by a rotation phase set in advance according to the workpiece W so as to coincide with the pin insertion holes PA, PB, PC of the workpiece W. The tool 30 is rotated, and the gripping tool 30 is fixed at this phase by a lock mechanism.

  Next, in the acquisition step, the articulated arm 13 is controlled to bring the gripping tool 30 close to the work W while the tool substrate 31 and the work W are parallel, and the gripping pins 34A, 34B, and 34C are inserted into the pin insertion holes PA, Insert into PB and PC.

  Next, in the gripping process, the workpiece W is gripped by expanding the grip pins 34A, 34B, 34C and locking the grip pins 34A, 34B, 34C to the pin insertion holes PA, PB, PC.

Next, in the moving step, the articulated arm 13 is controlled to move the workpiece W from the start position to the end position.
Next, in the opening process, the grip pins 34A, 34B, 34C are closed with the workpiece W placed at the end position, and the grip pins 34A, 34B, 34C are removed from the pin insertion holes PA, PB, PC, and the process ends. .

According to this embodiment, there are the following effects.
(2) A tool rotating device 70 that rotates the gripping tool 30 relative to the distal end side of the articulated arm 13 is provided separately from the transfer robot 10. Therefore, it is not necessary to provide a motor for rotating the gripping tool 30 in the gripping tool support mechanism 40A that supports the gripping tool 30. Thereby, the gripping tool unit 20A can be made smaller and lighter than the gripping tool unit 20 of the first embodiment.

  It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, etc. within a scope that can achieve the object of the present invention are included in the present invention.

  In the above embodiment, the gripping tool unit 20 is detachably provided on the articulated arm 13 via the automatic tool changer 43, but the present invention is not limited to this. For example, the gripping tool unit may be fixed to the tip of the articulated arm.

  In the above embodiment, the gripping tool 30 is provided so as to be rotatable about the central axis O as a rotation axis. However, the present invention is not limited to this. For example, the gripping tool may be provided so as to be movable in a plane parallel to the tool substrate in addition to the rotation about the central axis O as the rotation axis. As a result, even when the center position of the pin insertion hole at the start position differs for each workpiece, the gripping tool can be obtained without changing the teaching of the articulated arm for each workpiece by performing such parallel movement. The workpiece can be gripped with this. Therefore, the versatility of the transport system can be improved.

  In the above embodiment, three grip pins are provided on the tool substrate and three pin insertion holes corresponding to the three grip pins are formed in the workpiece. However, the present invention is not limited to this. The number of grip pins and the number of pin insertion holes may be two or more. In addition, although the three grip pins are the vertices of an equilateral triangle, the present invention is not limited to this.

It is a perspective view showing composition of a conveyance system concerning a 1st embodiment of the present invention. It is a perspective view which shows the structure of the holding | grip tool unit which concerns on the said embodiment. It is sectional drawing which shows the structure of the front end side of the holding pin which concerns on the said embodiment. It is a block diagram which shows the structure of the control apparatus which concerns on the said embodiment. It is a front view which shows the structure of two types of workpiece | work of the multiple types of workpiece | work which concerns on the said embodiment. It is a perspective view of the conveyance system which shows the state which hold | gripped two types of workpiece | work with the holding | grip tool which concerns on the said embodiment. It is a perspective view which shows the structure of the conveyance system which concerns on 2nd Embodiment of this invention. It is the schematic diagram which planarly viewed the state which hold | gripped the workpiece | work of a different vehicle model with the same articulated robot and the holding | grip tool.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,1A ... Transfer system W ... Work PA, PB, PC ... Pin insertion hole 10 ... Transfer robot 11 ... Robot main body 13 ... Articulated arm (robot arm)
20, 20A ... Gripping tool unit 30 ... Gripping tool 34A, 34B, 34C ... Gripping pin 40 ... Gripping tool support mechanism (gripping tool rotating means)
60 ... Control device 61 ... Storage section (command storage means)
62 ... Control signal output section (control means)
70 ... Tool rotating device (gripping tool rotating means)

Claims (1)

A gripping tool for gripping multiple types of workpieces;
A robot arm that supports the gripping tool on the distal end side and changes the position and posture of the gripping tool in a three-dimensional space;
A transport system for gripping the plurality of types of workpieces at a predetermined start position by the gripping tool and transporting the workpieces to a predetermined end position;
Gripping tool rotating means for rotating the gripping tool at least with respect to the distal end side of the robot arm;
Robot arm command information common to the plurality of types of workpieces for moving the tip end side of the robot arm from the start position to the end position, and the gripping the plurality of types of workpieces at the start position, Command storage means for storing gripping tool command information including the phase of the gripping tool corresponding to each of a plurality of types of workpieces;
And a control unit that controls the robot arm, the gripping tool, and the gripping tool rotating unit based on the robot arm command information and the gripping tool command information stored in the command storage unit. system.

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