JP6007170B2 - Workpiece manufacturing method and system - Google Patents

Description

  The present invention relates to a workpiece manufacturing method and system, and more particularly, to a workpiece manufacturing method and system in which a worker and a work robot perform work on the same parts to assemble a workpiece.

  Conventionally, in a production line for automobile parts and the like, an operator and a work robot sometimes work on the same parts to assemble a workpiece. In particular, in recent years, assembling a workpiece using only a work robot requires excessive equipment investment and is less versatile, the worker and the work robot have been reconsidered to perform work suitable for each.

  For example, Patent Document 1 describes an assembly line for a magnetic tape cartridge. In this assembly line, parts are transported by a transport pallet transported on a roller conveyor from a station where parts are supplied by an operator to a station where the assembly robot assembles the parts.

  Patent Document 2 describes that a work station where an operator works and a work station where a work robot works are connected by a rail, and a carriage on which components are mounted moves along the rail. This carriage is provided with a motor for driving a tire and is controlled to move according to a work procedure or the like.

JP 2003-39253 A JP 2011-152615 A

  However, in the conventional techniques described in Patent Documents 1 and 2, in order to move parts between a section where an operator works and a section where a work robot works, a roller conveyor, a motorized carriage, or the like is required. I needed a transport mechanism that could run.

  Further, in the above conventional technique, the self-propelled transport mechanism is controlled to move the component to a position suitable for the work of the work robot. For this reason, the position where the component is moved may deviate from the original set position, which may cause problems in the work of the work robot. Therefore, a mechanism for detecting the position of the transport mechanism after movement is required.

  In view of the above, the present invention provides a workpiece manufacturing method and system capable of accurately moving a part to a position suitable for work of a work robot without requiring a self-propelled transport mechanism. Objective.

  A workpiece manufacturing method according to the present invention is a workpiece manufacturing method for assembling a workpiece by performing a plurality of operations on a component mounted on a carriage, and an operator performs an operation on the component in a human operation section. A human work process, a robot work process in which a work robot works on the parts in the robot work section, and a carriage that moves the carriage on which the parts are mounted from the human work section into the robot work section. A moving step, wherein the bogie moving step includes a human moving step in which the operator moves the bogie to a preset position, a detecting step for detecting that the bogie is located at the position, and the bogie. When the robot detects that the robot is located at the position, the work robot moves the carriage to a position where the work robot works on the component. Characterized in that it comprises and.

  According to the workpiece manufacturing method of the present invention, the carriage on which the component is mounted is moved by a worker to a preset position in the human movement process, and the work robot moves from this position to the part in the robot movement process. The work robot that performs work on the part moves to the position where the work is performed. Therefore, unlike the conventional techniques described in Patent Documents 1 and 2, a self-propelled transport device is not necessary for transporting parts, and the cart can be moved by an operator or the like. That's fine. For this reason, since a mechanism for self-propelling the transport device is not required, it is possible to simplify the manufacturing equipment, and it is not necessary to control the transport device.

  Furthermore, in the robot movement process, the work robot that works on the part moves the carriage to the position where the work is performed on the part. Therefore, the position of the moved part is a position based on the reference point of the working robot itself that performs the work on the part. This eliminates the possibility of malfunctions in the work of the work robot, and does not require a mechanism for detecting the position of the carriage after movement.

  A workpiece manufacturing system according to the present invention is a workpiece manufacturing system for assembling a workpiece by performing a plurality of operations on components mounted on a carriage that can be moved by an operator. A human work section, a robot work section in which a work robot performs work on the part, a cart detection mechanism that detects whether the cart is located at a preset position, and the cart detection mechanism A robot control unit that controls the work robot so that the work robot moves the carriage to a position where the work robot works on the component when the work robot detects that the cart is located at the position. It is characterized by that.

  According to the workpiece manufacturing system of the present invention, the carriage on which the component is mounted can be moved by the operator up to a preset position, and from this position to the position where the work robot performs the work on the component. A work robot that performs work on the parts is moved. Therefore, unlike the conventional techniques described in Patent Documents 1 and 2, a self-propelled transport device is not necessary for transporting parts, and the cart can be moved by an operator or the like. That's fine. Therefore, since a mechanism for causing the transport device to self-run is not required, the manufacturing system can be simplified, and the transport device need not be controlled.

  Further, a work robot that performs work on the part moves the carriage to a position at which the work is performed on the part. Therefore, the position of the moved part is a position based on the reference point of the working robot itself that performs the work on the part. This eliminates the possibility of malfunctions in the work of the work robot, and does not require a mechanism for detecting the position of the carriage after movement.

  In the workpiece manufacturing system of the present invention, the cart detection mechanism includes an engagement body that can be engaged with an engaged portion of the carriage, and an elastic body that elastically presses the engagement body against the engaged portion. It is preferable that a detection unit that detects whether or not the engaging body is engaged with the engaged portion is provided.

  In this case, since the engaged portion of the carriage and the engagement body of the carriage detection mechanism are stably engaged by the pressing force of the elastic body, the carriage can be stably stopped at a preset position, Detection by the detection unit is ensured.

The schematic diagram which shows the workpiece | work manufacturing system which concerns on embodiment of this invention. It is a figure which shows a trolley | bogie position detection mechanism typically, (a) is a front view, (b) is sectional drawing in the BB line of (a). The schematic diagram which shows the workpiece | work manufacturing system in the state which has a trolley | bogie in a setting position. The schematic diagram which shows the workpiece | work manufacturing system in the state which has a trolley | bogie in a robot working position.

  Hereinafter, a workpiece manufacturing system 10 according to an embodiment of the present invention will be described.

  As shown in FIG. 1, in the workpiece manufacturing system 10, an operator (not shown) and the work robots 11 and 12 perform a plurality of operations on a component S constituting a workpiece W (see FIG. 4) such as an automobile component. This is a system for assembling the workpiece W. The workpiece manufacturing system 10 is divided into a human work section A and a robot work section B. Note that the workpiece W is formed by assembling a plurality of components including the component S. For example, the component S is a component constituting a base or a base of the workpiece W.

  The human work section A is a section in which the worker performs work on the parts S mounted on the carriage 21. The work performed by the worker includes placement of other parts on the part S, temporary assembly, assembly, and the like, but the work may be the same as the conventional one and is not particularly limited. Alternatively, the worker may move the part S mounted on the carriage 21 to a worktable or the like other than the carriage 21 and work on the part S on the worktable or the like.

  The robot work section B is a section where the work robots 11 and 12 perform work on the component S mounted on the carriage 21. The work performed by the work robots 11 and 12 includes placement of other parts on the part S, assembly, tightening of parts, adjustment, inspection, processing, reversal of the part S, and the like. Well, not particularly limited. In addition, the work robots 11 and 12 are moved to a work table other than the car 21 mounted on the car 21, and the work robots 11 and 12 or other work robots work on the parts S on the work board or the like. May be performed.

  Referring to FIG. 3, work robots 11 and 12 can work on component S in cooperation. However, the number of work robots 11 and 12 is not limited to two, and may be one or three or more. In addition, the work robots 11 and 12 may work on the component S at separate positions.

  In the robot work section B, stations 13 and 14 are installed for the work robots 11 and 12 to perform work. In the stations 13 and 14, for example, tools for various operations of the work robots 11 and 12, replacement hands, or other parts that the work robots 11 and 12 assemble into the parts S are arranged.

  Although not shown, it is preferable to install a compartment such as a safety door between the human work section A and the robot work section B so that the worker does not enter the robot work section B.

  Rails 22 are installed on these floor surfaces L (see FIG. 2A) across the human work section A and the robot work section B. Here, the number of rails 22 is one, but a plurality of rails may be installed in parallel.

  The carriage 21 includes a plurality of tire-type wheels 23 and rollers 24 that can rotate by engaging with both side surfaces of the rail 22. The carriage 21 is not provided with a drive source and cannot self-propell, but is movable along the rail 22 when receiving a force from the outside. The carriage 21 easily moves when receiving a force from the worker or the work robots 11 and 12.

  Here, the rail 22 is installed so as to return from the human work section A to the same human work section A through the robot work section B again. However, the rail 22 is not limited to be installed in this way, and is installed so as to end from the human work section A through the robot work section B to another human work section or the robot work section B. Also good. However, it is preferable to install the rail 22 in a loop shape including the human work section A and the robot work section B because the trouble of replacing the carriage 21 on the rail 22 can be omitted.

  The workpiece manufacturing system 10 further includes a cart detection mechanism 30 that detects whether the cart 21 is located at a preset reference position P1. The cart detection mechanism 30 is disposed in the robot work section B close to the human work section A.

  As shown in FIGS. 2A and 2B, the cart detection mechanism 30 includes an engagement body 31, an elastic body 32, a support body 33, and a detection unit 34.

  The engaging body 31 has a shape that can be engaged with the engaged portion 25 of the carriage 21. In the present embodiment, the engaged portion 25 of the carriage 21 is a roller 25 that is pivotally supported on the lower surface of the mounting table 26 on which the component S of the carriage 21 is mounted. In the drawing, the carriage 21 includes two rollers 25, but the number of rollers 25 may be one.

  The engaging body 31 has a recessed surface 31 a that engages with the outer peripheral surface of the roller 25 at the center. Here, the surface 31a is an inclined plane symmetrical in the front-rear direction. Further, a flat surface 31b inclined in the left-right outward direction of the carriage 21 is provided outside the inclined flat surface 31a in the front-rear direction.

  The engagement body 31 is elastically pressed by the elastic body 32 in the direction of the rail 22. A sliding bar 35 is fixed to the left side surface of the engaging body 31. From the helical spring so as to be shorter than the free length between the engaging body 31 and the support body 33 outside the sliding bar 35. An elastic body 32 is disposed. The support 33 is fixed to the floor L, and although the details are not shown, the slide bar 35 is slidable within the support 33.

  Since the engaging body 31 has a flat surface 31b inclined outward in the front-rear direction, even if the force against the elastic force is not so large, the engaging body 31 can be engaged with the roller 25, or The engagement can be released. Further, even if there is a slight error in the relative position between the engaging body 31 and the roller 25, they are reliably engaged. As a result, the carriage 21 pushed by the operator can be stably stopped at the accurate reference position P1.

  The detection part 34 detects whether the trolley | bogie 21 is located in the reference position P1. The detection unit 34 is, for example, a plurality of transmission photoelectric sensors. By installing a plurality of transmissive photoelectric sensors at appropriate positions, whether or not the carriage 21 is positioned at the reference position P1 is accurately detected according to whether or not each light is shielded by the carriage 21. be able to.

  As shown in FIG. 1, the workpiece manufacturing system 10 further includes a robot control unit 40 that controls the operation of the work robots 11 and 12. A detection signal from the detection unit 34 is input to the robot control unit 40. The robot control unit 40 is a computer configured by a CPU or the like.

  As shown in FIGS. 2A and 2B, when the roller 25 of the carriage 21 is engaged with the engagement body 31 of the carriage detection mechanism 30, that is, when the carriage 21 is positioned at the reference position P1, the robot A detection signal is input from the detection unit 34 to the control unit 40. In this case, the robot control unit 40 sends a control signal to the work robot 11 so as to move the carriage 21 to a preset work position P2, which is optimal for performing work by the work robots 11 and 12. Send.

  Thereby, as shown in FIG. 4, the work robot 11 operates to pull the carriage 21 and move it from the reference position P1 to the work position P2. The work robot 11 has a hand or tool suitable for pulling the carriage 21, or can be replaced with such a hand or tool. For example, the work robot 11 includes a hand having multiple fingers similar to a human hand. With this hand, the operator grips a gripped portion such as a push rod for pushing and pulling the carriage 21 and pulls the carriage 21. You may do.

  A mechanism for temporarily fixing the carriage 21 to the work position P2 may be provided. Such a mechanism may be a mechanism similar to the cart detection mechanism 30, for example.

  Hereinafter, a workpiece manufacturing method according to an embodiment of the present invention using the workpiece manufacturing system 10 will be described with reference to FIG.

  First, as shown in FIG. 1, in the human work section A, a human work process is performed in which the worker performs work on the parts S mounted on the carriage 21. Thereafter, a carriage moving step for moving the carriage 21 from the human work section A to the robot work section B is performed.

  In the cart moving process, first, the worker who has finished the work pushes the cart 21 to perform the man moving process of moving the cart 21 toward the reference position P1 as shown in FIG.

  And the detection process which detects whether the trolley | bogie 21 is located in the reference position P1 is performed. When the carriage 21 reaches the reference position P1, the detection unit 34 transmits a detection signal to that effect.

  The robot control unit 40 that has received this detection signal transmits a control signal to the work robot 11 so as to move the carriage 21 to the work position P2. In response to this control signal, the work robot 11 pulls the carriage 21 and performs a robot movement process for moving the carriage 21 to the work position P2.

  Then, as shown in FIG. 4, the work robots 11 and 12 are set in advance for the component S mounted on the carriage 21 located at the work position P <b> 2 based on the control signal received from the robot control unit 40. The robot work process is performed. Thereby, the workpiece W is completed.

  Thereafter, the robot control unit 40 transmits a control signal to the work robot 12 so as to move the carriage 21 from the work position P2 into the human work section A. In response to this control signal, the work robot 12 pushes out the carriage 21 and moves the carriage 21 into the human work section A.

  As described above, according to the workpiece manufacturing method and the workpiece manufacturing system according to the embodiment of the present invention, the carriage 21 on which the component S is mounted is moved by the worker to the reference position P1 and the work is started from the reference position P1. The work robot 11 that performs work on the component S is moved to the position P2. Therefore, as in the prior art described in Patent Documents 1 and 2, a transport device capable of self-propelling is not required for transporting the component S, and a carriage 21 that can be moved by an operator or the like. If it is. Therefore, since a mechanism for causing the carriage 21 to self-run is not required, the workpiece manufacturing system 10 can be simplified, and there is no need to control the transfer device.

  Further, the work robot 11 that performs the work on the part S moves the carriage 21 to the work position P2 at which the work is performed on the part S. Therefore, the position of the component S after the movement is a position based on the reference point of the work robot 11 itself that performs work on the component S. This eliminates the possibility of problems in the work of the work robots 11 and 12, and does not require a mechanism for detecting the position of the carriage 21 after movement.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to this. For example, a case has been described in which the work robots 11 and 12 work together on the component S mounted on the carriage 21 located at the work position P2. However, it is not limited to this.

  For example, the work robot 11 performs work on the part S mounted on the carriage 21 located at the work position P2, and the robot 12 moves the carriage 21 from the work position P2 to another work position. The work robot 12 may perform work on the component S mounted on the cart 21 that is positioned.

  DESCRIPTION OF SYMBOLS 10 ... Work manufacturing system 11, 12 ... Working robot, 21 ... Cart, 22 ... Rail, 23 ... Wheel, 24 ... Roller, 25 ... Roller, Engaged part, 30 ... Cart detection mechanism, 31 ... Engagement body, 32 DESCRIPTION OF SYMBOLS ... Elastic body, 33 ... Supporting body, 34 ... Detection part, 35 ... Sliding rod, 40 ... Robot control part, A ... Human work section, B ... Robot work section, P1 ... Reference position, P2 ... Work position, S ... Parts, W ... Workpiece.

Claims (3)

A workpiece manufacturing method for assembling a workpiece by performing a plurality of operations on parts mounted on a carriage,
A human work process in which a worker works on the part in a human work section;
A robot work process in which a work robot works on the parts in a robot work section;
A carriage moving step for moving the carriage on which the parts are mounted in the robot work section from the human work section,
The carriage moving step is
A person moving step in which the worker moves the carriage to a preset position;
A detection step of detecting that the carriage is located at the position;
When it is detected that the carriage is located at the position, the work robot includes a robot moving step of moving the carriage to a position where the work robot performs work on the component. A workpiece manufacturing method. A workpiece manufacturing system for assembling a workpiece by performing a plurality of operations on parts mounted on a carriage that can be moved by an operator,
A human work section where the worker works on the parts;
A robot work section in which a work robot works on the parts;
A cart detection mechanism for detecting whether the cart is located at a preset position;
When the cart detection mechanism detects that the cart is located at the position, the robot controls the work robot so that the work robot moves the cart to a position where the work robot works on the component. A workpiece manufacturing system including a control unit.   The cart detection mechanism includes an engagement body that can be engaged with an engaged portion of the carriage, an elastic body that elastically presses the engagement body against the engaged portion, and the engagement body is the engaged member. The workpiece manufacturing system according to claim 2, further comprising: a detection unit that detects whether or not the joint unit is engaged.

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