JP5403120B2 - Handling method - Google Patents

Description

  The present invention relates to a handling system for conveying articles.

Work processes such as an assembly process and a transport process depend on humans, and automation is difficult because dedicated tools and jigs are required.
Even in the process that can be automated, conventionally, since one type of work is performed by one robot, a dedicated gripping device corresponding to the part is required. A large number of dedicated gripping devices are required for assembly and transport processes with a large number of work steps and parts. For this reason, it is necessary to prepare dedicated equipment according to the number of manufactured parts and work man-hours, and a large number of robots and production machines are required. The required space is also very large.
In a process of transferring to a subsequent process such as transfer between processing machines, usually, a large number of randomly arranged parts are aligned in a predetermined posture so as to facilitate work and transferred to the next process. For example, when changing the posture of a component to the next process and transporting the component, the component is once placed on the temporary table or the posture changing device, so that a dedicated facility is required and a very large space is required.
A conveyance process in which a large number of parts are arranged in a messy state is sent to the next process after being aligned by an apparatus called a parts feeder. The parts feeder is a device with a relatively simple mechanism that is designed and manufactured each time it is basically designed for the purpose of handling only one type of component and corresponding to the required processing capacity. For this reason, it is normal to not be able to achieve such a high level of processing capacity, and the ability to change the type of parts is low, and when it is necessary to handle multiple types of parts, the time required for setup becomes longer, resulting in production. There is a problem that causes a decline in sex.
In view of the current situation as described above, there is a demand for a handling system that can be efficiently produced in a space where an operator can work without requiring a dedicated device.
As a conventional handling system, a system using two horizontal articulated robots has been proposed (see Patent Document 1).
In the conventional handling system, two horizontal articulated robots, an assembly work table arranged on the front side of each of these robots, a free flow conveyor as a transfer device for moving the platen, and a side of the robot are arranged. A component supply stand that supplies small parts, a component supply machine that supplies small and medium parts, a component supply machine that supplies medium and large parts, etc. are combined to form these robots and peripheral devices. What is provided with the control apparatus which controls is disclosed.
This handling system simply uses different robots to convey according to the size of the article. As a method of aligning the conveyed product, a method of aligning the parts by a robot equipped with an image processing device (vision) is used particularly when handling of multiple types of parts is required or when a high processing capacity is required. It has been. In other words, this is a method in which information on the position and orientation of each component is obtained by a visual sensor such as a CCD camera, and the robot arm is controlled based on this information to perform component alignment work. This method has an advantage that the time required for setup can be shortened because it is possible to handle various parts simply by switching the operation program in response to the change of the part type.
However, the vision system is complicated, causing cost performance to deteriorate, and the relatively simple task of aligning parts is processed by an unnecessarily complicated system, so that the processing capacity can be improved. On the other hand, there is a problem that it becomes difficult.

JP-A-6-320364

In the conventional handling system, each robot transports parts based on a predetermined sequence. Therefore, work that considers the later process, such as aligning and transporting randomly arranged parts, must be performed. I can't.
Further, in a handling system including a vision system, when the vision system is used, there is a problem that adjustment of the work appearance and contour changes due to daylighting, and adjustment work becomes complicated.
In this way, the conventional handling systems have been realized by providing special equipment such as dedicated tools and jigs or using vision systems. However, in recent years, a variety of products have been achieved. It is desirable to flexibly change the setup of a flexible device that can handle small-scale production, and it is desirable to be able to easily change the setup and to have multiple functions by the operation of one robot. There has been a problem that conventional handling systems cannot cope.
The present invention has been made in view of the problems of the prior art, and an object of the present invention is to provide a handling system that can easily change the setup and has a plurality of functions for the operation of one robot.

The handling method includes a work, a work stocker for carrying the work, a tray, and an industrial robot for transporting the work, and the industrial robot is constituted by a double-arm robot, and one hand of the double-arm robot. for transporting and positioning to the tray of the work by the work changing it has by recovery operation by.

  By carrying out change work, it is possible to transport evenly arranged workpieces while positioning them, and it is possible to change the setup corresponding to high-mix low-volume production because it does not constitute a complicated system. Is possible.

It is a front view of a double-arm robot. It is a perspective view of a conveyance system. It is a figure which shows the workpiece conveyance by a double arm robot. It is a figure which shows the workpiece conveyance by a double arm robot. It is a figure which shows the workpiece conveyance by a double arm robot. It is a figure which shows the workpiece conveyance by a double arm robot. It is a figure which shows the workpiece conveyance by a double arm robot.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 illustrates a dual arm robot 11 according to the present invention.
The base 1 is fixed with anchor bolts (not shown), and the turning body 2 is mounted on the base 1 so as to be rotatable in a vertical plane. A right arm 3R is provided on the left side of the front surface of the swivel trunk 2, and a right shoulder 4R is provided so as to be turnable in a horizontal plane. The right shoulder 4R is provided with a right upper arm A portion 5R so as to be swingable. An upper right arm B portion 6R is provided at the tip of the upper right arm A portion 5R. The upper right arm B portion 6R is given a twisting motion to turn. Further, a right lower arm portion 7R is swingably provided at the tip of the upper right arm B portion 6R. A right wrist B portion 9R is provided at the tip of the right wrist A portion 8R at the tip of the right lower arm portion 7R. The right wrist A part 8R is given a twisting action for turning, and the right wrist B part 9R is given a turning action for performing a bending action. A right flange 10R is provided at the tip of the right wrist B portion 9R, so that a hand (not shown) can be connected and a twisting operation is applied. Similarly to the above, the left arm 3L is provided on the right side when viewed from the top, and the left shoulder 4L, the left upper arm A 5L, the left upper arm B 6L, the left lower arm 7L, the left wrist A 8L, the left wrist B 9L, A left flange 10L is provided.
In such a configuration, the swivel body 2, the right arm portion 3R, and the left arm portion 3L are operated so that the hand is attached to the distal end portions attached to the left and right wrist flanges 10R and 10L. And

A specific part positioning method using the dual arm robot 11 will be described with reference to FIG. The double-arm robot 11 conveys the workpiece 13 stored in the workpiece stocker 12 flowing from the left side of the drawing to the tray 14 on the right side of the drawing while the workpiece 13 is being picked up by the right arm portion 3R and the left arm portion 3L. Is to be positioned. The double arm robot 11 is disposed between the work stocker 12 and the tray 14. The left and right hands 15R and 15L of the double-arm robot 11 are arranged as initial positions on a straight line connecting the work and the center of the tray, and the transfer time is shortened by moving the work 13 from the work tray 12 to the tray 14 linearly. Is configured to do.
In this way, the arrangement is such that the left and right arm portions 3R and 3L are composed of seven axes having redundant axes so that the left and right arm portions 3R and 3L can be brought close to the turning trunk portion 2 of the double-arm robot 11. The distance between the tray 14 and the double-arm robot 11 is shorter than the movable range of the double-arm robot 11, and the work stocker is so close that the arm on the opposite side of the work placement position reaches the work 3. 12 and the tray 14 are densely arranged. For example, as can be seen from FIG. 2 and FIG. 3, the work 13 stored in the work stocker 12 can be gripped by operating the left arm 3 </ b> L.

The workpiece transfer operation will be described with reference to FIGS. First, FIG. 3 shows an operation in which the work 13 stored in the work stocker 12 is taken out using the left arm 3L. In the double-arm robot 11, the turning body 2 is turned by a predetermined angle in the direction of the work stocker 12 with respect to the base 1, and the left arm 3 </ b> L is configured to take out the work 13 from the initial posture shown in FIG. 2. Is rotated by a predetermined angle to form a take-out posture. By doing so, the left hand 15L attached to the flange 10L of the left arm portion 3L grips the workpiece 13. At this time, the right arm portion 3R forms an initial posture, or the posture is formed so as to be disposed at a position that does not interfere with the movement track of the left arm portion 3L. At this time, although the work 13 is arranged to some extent in the work stocker 12, it is not arranged at an accurate position, but is arranged so that the left hand 15L can be gripped.
Next, as shown in FIG. 4, the work 13 is pulled out from the work stocker 12 while the work 13 is held by the left hand 15 </ b> L. At that time, the right arm 3R rotates each axis by a predetermined angle so that the right hand 15R attached to the right wrist flange 10R is attached to the work 13, thereby forming a posture to attach to the work 13. As shown in FIG. 5, the posture of the left arm 3L is formed so that the right hand 15R is in a predetermined position of the work 13 (the center of the work 13) while the work 13 is held by the left hand 15, and the right hand The posture of the right arm 3R is formed so that 15R finely moves in a certain direction of the workpiece 13 (upward in the drawing), and when the workpiece 13 and the end of the right hand 15R come into contact with a contact sensor (not shown), the right hand 15R The workpiece 13 is gripped. Next, when the left hand 15L releases the workpiece 13, the left hand 15L moves in a direction in which the workpiece 13 is located (left direction in the drawing), and the workpiece 13 and the end of the left hand 15L come into contact with each other by a contact sensor (not shown). The left hand 15L grips the work 13 again.
At this time, the rotational positions of the axes of the right arm portion 3R and the left arm portion 3L that grip the work 13 have an error corresponding to the amount of deviation of the work 13 from a predetermined position, and this position is at the target position up to the tray to be installed. Each axis of the right arm 3R and the left arm 3L is moved as a new target position by superimposing an error corresponding to the amount of slip.
Further, when the left hand 15L grips the workpiece 13 in the workpiece stocker 12, the workpiece 13 is transported to the tray 14 without performing a change-over operation because it grips an accurate position.

Here, in the present invention, the contact between the end of the hand and the workpiece is performed using a contact sensor (not shown). However, the present invention is not limited to this, and any proximity sensor having the same function can be used as long as the sensor detects contact. A switch may be used. Or it can also obtain | require from the electric current and voltage of the actuator which drive each axis | shaft by the fluctuation | variation of the load which acts on an arm part by contacting.
Next, as shown in FIG. 6, while holding the work 13 with the left and right hands 15R and 15L and maintaining the postures of the left and right arms 3R and 3L, the revolving body 2 is moved in the direction of the tray 14 with respect to the base 1. Turn.
In the above description of FIG. 5, the movement of changing the left and right hands 15 </ b> R and 15 </ b> L is described as if the revolving body 2 was stopped. FIGS. 5 to 6 show that the revolving body 2 is in a predetermined position. It is possible to perform a change-over operation while moving, in which case the time can be reduced.
Finally, as shown in FIG. 7, the left and right arm portions 3R, 3L form a predetermined posture so that the work 13 is placed on the tray 14.
In the present embodiment, a rectangular workpiece has been described as an example. However, the present invention is not limited to this, and it is a matter of course that a rectangular parallelepiped or an irregularly shaped object may be used.

The handling system described above includes a workpiece, a workpiece stocker for loading the workpiece, a carry-out stand, and an industrial robot for conveying the workpiece, and the pivot axis for rotating the arm portion for conveying the workpiece by the industrial robot And is arranged between the work stocker and the carry-out stand.
In addition, the initial position of the hand provided on the arm is positioned on a straight line connecting the work housed in the work stocker and the center of the transport table.
Further, the industrial robot is constituted by a double-arm robot, and grips the workpiece by the arm portion arranged at a position far from the position where the workpiece is arranged.
Further, the arm part of the industrial robot is provided with seven or more axes including redundant axes.
As described above, in the above-described handling system, the double-arm robot can be arranged in a narrow place so that the double-arm robot is arranged between the work stocker and the carry-out stand, and the required space on the production line can be reduced. it can.
The handling system further includes a workpiece, a workpiece stocker for loading the workpiece, a carry-out table, and an industrial robot for conveying the workpiece. The industrial robot is a double-arm robot, and has the workpiece. Change work.
Further, when the double-arm robot performs the holding work, the hand grips the work when the work comes into contact with the end of one hand.
Further, when the double-arm robot performs the holding work, the hand holding the workpiece releases the workpiece when the other hand holds the workpiece.
Further, when the hand holds the exact position when the double-arm robot takes out the work from the work stocker, the work is transferred to the carry-out table without performing the holding work. is there.
Further, the holding work performed by the double-arm robot is performed until the workpiece is transferred to the transfer table.
The handling method described above includes a workpiece, a workpiece stocker for loading the workpiece, a carry-out table, and an industrial robot for conveying the workpiece, and the industrial robot is configured by a double-arm robot, The workpiece is positioned and transported by a holding work.

DESCRIPTION OF SYMBOLS 1 Base 2 Turning body part 3R Right arm part 3L Left arm part 4R Right shoulder part 4L Left shoulder part 5R Upper right arm A part 5L Left upper arm A part 6R Right upper arm B part 6L Left upper arm B part 7R Right lower arm A part 7L Left lower arm A Part 8R Right wrist A part 8L Left wrist A part 9R Right wrist B part 9L Left wrist B part 10R Right flange part 10L Left flange part 11 Double arm robot 12 Work stocker 13 Work 14 Tray 15R Right hand 15L Left hand

Claims (1)

A workpiece, a workpiece stocker for carrying the workpiece, a tray, and an industrial robot for conveying the workpiece, the industrial robot is composed of a double-arm robot, and by a re-handling operation by one hand of the double-arm robot A handling method comprising positioning and transporting the work to the tray by a holding work.

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