JP6172334B2 - Processing device and work production method - Google Patents

Description

  The present disclosure relates to a machining apparatus and a workpiece production method.

  Patent Document 1 discloses a spot welding apparatus including a workpiece fixing base that holds a vehicle body panel or the like of a passenger car as a workpiece, and a robot that performs spot welding on the workpiece.

JP 2008-279696 A

  In a processing apparatus using a robot, an apparatus capable of processing a wide range of workpieces with individual robots is desired from the viewpoint of facilitating equipment construction or the reduction of the number of robots. Therefore, an object of the present disclosure is to provide a machining apparatus and a production method capable of machining a wide range of workpieces with individual robots.

  A processing apparatus according to the present disclosure includes a swivel unit, a first arm unit, a second arm unit, a wrist unit, and a tip unit that are connected in series with each other, a first actuator that swivels the swivel unit around a first axis, A second actuator that swings one arm portion around the second axis, a third actuator that swings the second arm portion around the third axis, a plurality of posture adjustment actuators that adjust the posture of the tip portion, A first robot having a distance adjusting actuator that adjusts a distance between the two axes and the third axis, and an end effector that is provided at a distal end and performs processing on the workpiece; When the first arm is rotated around the second axis with the distance being the longest in the face-to-face state, the distal end of the first arm or the base end of the second arm interferes with the workpiece. To position.

  In the workpiece production method according to the present disclosure, the first robot is controlled so as to move the end effector to a plurality of machining target portions of the workpiece using the machining apparatus, and the end effector is arranged at the machining target portion. And controlling the first robot so as to process the processing target part by the end effector, and controlling the first robot to move the end effector to a plurality of processing target parts of the workpiece. Includes moving the end effector between a position higher than the base end of the first arm and a position lower than the base end while changing the distance between the second axis and the third axis by the distance adjusting actuator. .

  According to the present disclosure, it is possible to process a wide range of workpieces with individual robots.

It is a schematic diagram which shows schematic structure of the processing apparatus which concerns on 1st Embodiment. It is a schematic diagram which shows the arrangement | positioning conditions of a 1st robot. It is a top view which shows the state which the 1st robot faced the workpiece | work. It is a schematic diagram which shows the arrangement | positioning conditions of a 1st robot. It is a mimetic diagram showing other arrangement conditions of the 1st robot. It is a mimetic diagram showing other arrangement conditions of the 1st robot. It is a mimetic diagram showing other arrangement conditions of the 1st robot. It is a mimetic diagram showing other arrangement conditions of the 1st robot. It is a hardware block diagram of a controller. It is a flowchart which shows the process sequence using a 1st robot. It is a schematic diagram which shows the attitude | position of the 1st robot in process of execution. It is a flowchart which shows the production | generation procedure of an operation | movement pattern. It is a figure which illustrates the effect | action of a distance adjustment actuator. It is a top view which shows the other example of arrangement | positioning of a 1st robot. It is a top view which shows other example of arrangement | positioning of a 1st robot. It is a schematic diagram which shows schematic structure of the processing apparatus which concerns on 2nd Embodiment. It is a top view which shows the movable range of a robot. It is a perspective view which shows the other example of arrangement | positioning of a robot. It is a perspective view which shows the other example of arrangement | positioning of a robot. It is a perspective view which shows the other example of arrangement | positioning of a robot.

  Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same functions are denoted by the same reference numerals, and redundant description is omitted.

1. First embodiment [processing apparatus]
As shown in FIG. 1, the processing apparatus 1 includes two robots 10 (first robots), a controller 100, and a programming pendant 120.

(robot)
The robot 10 processes a workpiece W such as an automobile body. As an example, the robot 10 includes a base 11, a turning part 12, a first arm part 13, a second arm part 14, a wrist part 15, a tip part 16, an end effector 17, and a first actuator 21. A second actuator 22, a third actuator 23, a fourth actuator 24, a fifth actuator 25, a sixth actuator 26, and a seventh actuator 27.

  The base 11 is fixed to the floor surface (installation surface) and supports the entire robot 10. That is, all of the plurality of robots 10 are fixed to the installation surface.

  The turning part 12, the first arm part 13, the second arm part 14, the wrist part 15 and the tip part 16 are connected in series with each other. The turning unit 12 is provided on the base 11 and can turn around a first axis Ax1 that is vertical (along the z-axis in the drawing). In the following description, “tip” means the end on the tip 16 side, and “tip” means the tip and its vicinity. “Base end” means the end on the base 11 side, and “base end” means the base end and its vicinity.

  The first arm portion 13 can swing around a horizontal second axis Ax2 that passes through a connecting portion between the turning portion 12 and the first arm portion 13.

  The second arm portion 14 can swing around a horizontal third axis Ax3 that passes through the connecting portion of the first arm portion 13 and the second arm portion 14. The third axis Ax3 is parallel to the second axis Ax2. The second arm portion 14 can turn around the fifth axis Ax5 along the central axis.

  The wrist portion 15 can swing around a fourth axis Ax4 that passes through a connecting portion between the second arm portion 14 and the wrist portion 15.

  The distal end portion 16 can turn around the sixth axis Ax6 along the central axis of the wrist portion 15.

  The end effector 17 is a spot welding device, for example, and is provided at the distal end portion 16. As an example, the end effector 17 is detachably attached to the distal end portion 16 and can be exchanged with other end effectors. The end effector 17 may be integrated with the distal end portion 16. The end effector 17 may be any tool as long as it is a processing tool, and is not limited to a spot welding apparatus. For example, the end effector 17 may be an arc welding apparatus, a cutter that performs work other than welding, a screw tightening apparatus, or the like.

  Here, the first arm portion 13 is configured by links 13A and 13B connected in series with each other, the link 13A is connected to the turning portion 12, and the link 13B is connected to the second arm portion 14. The first arm portion 13 can be bent around a seventh axis Ax7 that passes through the connecting portion of the links 13A and 13B. In other words, the link 13B can swing around the seventh axis Ax7 that passes through the connecting portion of the links 13A and 13B. The seventh axis Ax7 is parallel to the second axis Ax2 and the third axis Ax3.

  The first actuator 21 is provided on the base 11, for example, and turns the turning portion 12 around the first axis Ax1.

  The second actuator 22 is provided in the turning unit 12, for example, and swings the first arm unit 13 around the second axis Ax2.

  The third actuator 23 is provided, for example, at the distal end portion of the first arm portion 13 and swings the second arm portion 14 about the third axis Ax3.

  The fifth actuator 25 is provided, for example, at the base end portion of the second arm portion 14, and turns the second arm portion 14 about the fifth axis Ax5. Since the wrist part 15 is connected to the second arm part 14, turning the second arm part 14 corresponds to turning the wrist part 15. That is, the fifth actuator 25 turns the wrist portion 15 about the fifth axis Ax5.

  The fourth actuator 24 is provided, for example, at the distal end portion of the second arm portion 14, and swings the wrist portion 15 about the fourth axis Ax4.

  The sixth actuator 26 is provided, for example, on the wrist portion 15 and rotates the tip end portion 16 about the sixth axis Ax6.

  The fourth actuator 24, the fifth actuator 25, and the sixth actuator 26 are examples of a plurality of posture adjustment actuators that adjust the posture of the distal end portion 16.

  The seventh actuator 27 (distance adjustment actuator) adjusts the distance L1 between the second axis Ax2 and the third axis Ax3. As shown in FIG. 2, the seventh actuator 27 adjusts the distance L1 between the longest distance L11 and the shortest distance L12.

  As shown in FIG. 1, the seventh actuator 27 is provided, for example, at the distal end portion of the link 13 </ b> A, and bends the first arm portion 13 around the seventh axis Ax <b> 7. In other words, the seventh actuator 27 swings the link 13B about the seventh axis Ax7. In this configuration, the longest distance L11 is a distance L1 when the first arm portion 13 is not bent (the link 13B is not inclined with respect to the link 13A). The shortest distance L12 is a distance L1 when the first arm portion 13 is bent to the movable limit of the seventh actuator 27.

  The seventh actuator 27 does not necessarily have to bend the first arm portion 13 and may be any one as long as the distance L1 between the second axis Ax2 and the third axis Ax3 can be adjusted. For example, the seventh actuator 27 may be a direct acting actuator that expands and contracts the first arm portion 13.

  As described above, the robot 10 adds a redundancy degree of freedom to adjust the distance L1 between the second axis Ax2 and the third axis Ax3 with respect to the so-called six-axis robot capable of freely changing the position and posture of the tip portion 16. It is a thing. The actuators 21 to 26 are constituted by, for example, an electric servo motor, a gear head, a brake, and the like. The servo motor, the gear head, the brake, and the like are not necessarily arranged on the axes Ax1 to Ax7, and may be arranged at positions away from these axes.

(Transport device)
The processing device 1 may further include a transport device 30. The conveyance device 30 conveys the workpiece W so as to change the relative position of the workpiece W and the robot 10. As an example, the transport device 30 includes a pallet 31 (work placement unit) and a transport actuator 32. The pallet 31 supports the workpiece W. The transport actuator 32 transports the pallet 31 along a horizontal straight line (along the x-axis in the drawing) using, for example, an electric motor or a hydraulic motor as a power source.

(Robot placement)
As shown in FIG. 2A, when the robot 10 rotates the first arm 13 around the second axis Ax2 with the distance L1 as the longest distance L11 in a state of facing the workpiece W, The distal end portion DP1 of the first arm portion 13 or the proximal end portion PP2 of the second arm portion 14 is positioned so as to interfere with the workpiece W (hereinafter, this condition is referred to as “arrangement condition 1”).

  As shown in FIG. 2B, when the robot 10 rotates the first arm 13 around the second axis Ax2 with the distance L1 as the shortest distance L12 in a state of facing the workpiece W, The distal end portion DP1 of the first arm portion 13 and the proximal end portion PP2 of the second arm portion 14 may be positioned so as not to interfere with the workpiece W (hereinafter, this condition is referred to as “arrangement condition 2”).

  In addition, as shown in FIG. 3, “directly facing” means that the base end PE1 of the first arm portion 13 (intersection of the central axis of the first arm portion 13 and the second axis Ax2) is the first axis in plan view. It means a state that is located between Ax1 and the workpiece W and is located on a perpendicular line PL from the first axis Ax1 to the workpiece W.

  With reference to FIG. 4, detailed conditions for satisfying the arrangement conditions 1 and 2 will be exemplified. As shown in FIG. 4, the robot 10 is positioned so that the distance from the workpiece W to the proximal end PE1 of the first arm portion 13 is less than the third length L13 in a state of facing the workpiece W. Good (hereinafter, this condition is referred to as “placement condition 1a”). The third length L13 is the base end PE1 of the first arm portion 13 in a state where the distance L1 is the longest distance L11 and the second arm portion 14 is perpendicular to the straight lines orthogonal to the second axis Ax2 and the third axis Ax3. To the distal portion of the outer peripheral surface of the second arm portion 14. The “distal portion of the outer peripheral surface of the second arm portion 14” is a portion of the outer peripheral surface of the second arm portion 14 on the side opposite to the second axis Ax2. When the arrangement of the robot 10 satisfies the arrangement condition 1a, the arrangement condition 1 is also satisfied.

  The robot 10 may be positioned so that the distance from the workpiece W to the base end PE1 of the first arm portion 13 exceeds the fourth length L14 in a state of facing the workpiece W (hereinafter, this condition is “ Arrangement condition 2a "). The fourth length L14 has the distance L1 as the shortest distance L12, and the base end PE1 of the first arm 13 in a state in which the second arm 14 is perpendicular to the straight lines orthogonal to the second axis Ax2 and the third axis Ax3. To the distal portion of the outer peripheral surface of the second arm portion 14. When the arrangement of the robot 10 satisfies the arrangement condition 2a, the arrangement condition 2 is also satisfied.

As shown in FIG. 5, the robot 10 faces the workpiece W in a state facing the workpiece W, the distance from the highest processing target site P1 to the proximal end PE1 of the first arm 13 and the lowest processing. The distance from the target site P1 to the base end PE1 of the first arm portion 13 may be positioned to be equal to or shorter than the length La obtained by the expression (1).
La = L11 + L21 + L31 (1)
L11: longest distance from the second axis Ax2 to the third axis Ax3 L21: distance from the third axis Ax3 to the fourth axis Ax4 L31: distance from the fourth axis Ax4 to the end effector 17 The “distance” means a distance to a portion of the end effector 17 that acts on the processing target portion P1 (hereinafter referred to as “action portion”).

As shown in FIG. 6, the robot 10 is the fourth in the case where the end effector 17 is disposed so that the processing can be performed on the processing target portion P1 at the highest position in the workpiece W in a state of facing the workpiece W. The fourth axis Ax4 when the end effector 17 is disposed so that the distance from the position of the axis Ax4 to the base end PE1 of the first arm 13 and the lowest position to be processed P1 in the workpiece W can be processed. The distance from the position 1 to the base end PE1 of the first arm portion 13 may be positioned so as to be equal to or shorter than the length Lb obtained by Expression (2).
Lb = L11 + L21 (2)

  Arranging the end effector 17 with respect to the processing target site P1 means that the above-described action part of the end effector 17 is arranged at the processing target site P1. The posture of the end effector 17 that can process the processing target part P1 is determined according to the state of the processing target part P1. For example, when the end effector 17 is a spot welding apparatus, the posture of the end effector 17 is determined so that the welding target can be sandwiched between electrodes. As an example, FIG. 6 illustrates a case where the posture of the end effector 17 that can perform processing on the processing target site P1 is vertical (when the central axis of the wrist portion 15 is along the vertical axis). Assuming such a case, the robot 10 faces the work W in a state where the end effector 17 is disposed at the highest processing target site P1 of the work W with the wrist 15 facing vertically downward. The distance from the position of the fourth axis Ax4 to the proximal end PE1 of the first arm 13 and the first effector 17 when the end effector 17 is arranged at the lowest position to be processed P1 in the workpiece W with the wrist 15 facing vertically upward. You may position so that the distance from the position of 4 axis line Ax4 to the base end PE1 of the 1st arm part 13 may be below length Lb calculated | required by said Formula (2).

As shown in FIG. 7, the robot 10 may be positioned such that the height of the base end PE1 of the first arm portion 13 is equal to or higher than the height Ha obtained by Expression (3).
Ha = HH−L21 · cos θ−L11 (3)
HH: Height of the fourth axis when the end effector is disposed at the highest processing target site in the workpiece with the wrist facing vertically downward θ: orthogonal to the third axis Ax3 and the fourth axis Ax4 The minimum value of the angle between the straight line and the central axis of the wrist 15 The “minimum value of the angle” means the minimum value in the movable range.

The robot 10 may be positioned such that the height of the base end PE1 of the first arm portion 13 is equal to or less than the height Hb obtained by Expression (4).
Hb = HL + L21 · cos θ + L11 (4)
HL: the height of the fourth axis when the end effector is arranged at the lowest processing target site in the workpiece with the wrist facing vertically upward

As shown in FIG. 8, the fourth axis Ax4 when the end effector 17 is disposed at the highest processing target site P1 of the workpiece W with the wrist 15 facing vertically downward in a state of facing the workpiece W is shown. The distance from the position to the front side by the distance Lc determined by Equation (5) and the position shifted downward by the height Hc determined by Equation (6) to the proximal end PE1 of the first arm portion 13 and the wrist portion 15 Is shifted upward from the position of the fourth axis Ax4 when the end effector 17 is disposed at the lowest position to be processed P1 in the workpiece W by a distance Lc determined by Expression (5), and the expression (6 The distance from the position shifted upward at the height Hc determined by (1) to the base end PE1 of the first arm portion 13 may be positioned to be equal to or less than the longest distance L11.
Lc = L21 · sin θ (5)
Hc = L21 · cos θ (6)

  The two robots 10 are arranged so as to sandwich the workpiece W in a direction (a direction along the y axis in the drawing) orthogonal to a transfer direction (a direction along the x axis in the drawing) by the transfer device 30. Hereinafter, the positive direction of the illustrated y axis is referred to as “left direction”, and the negative direction of the illustrated y axis is referred to as “right direction”. The left robot 10 performs processing on the processing target portion P1 on the left side of the workpiece W, and the right robot 10 performs processing on the processing target portion P2 on the right side of the workpiece W.

  The robot 10 on the left side is arranged so as to be able to perform machining without interfering with the workpiece W with respect to the entire machining target portion P1 from the robot 10 side (left side). As an example, the left robot 10 is arranged so that the end effector 17 can reach both the uppermost processing target site P1 and the lowermost processing target site P1 without interfering with the workpiece W.

The robot 10 on the right side is arranged so as to be able to perform machining without interfering with the workpiece W with respect to the entire machining target portion P2 from the robot 10 side (right side).
As an example, the robot 10 on the right side is arranged so that the end effector 17 can reach both the uppermost processing target site P2 and the lowermost processing target site P2 without interfering with the workpiece W.

(Controller and programming pendant)
The controller 100 is a device that controls the two robots 10 and the transfer device 30. The programming pendant 120 is a device that inputs and outputs data to and from the controller 100 by wire or wireless.

  The controller 100 includes a target acquisition unit 111, a first calculation unit 112, a determination unit 113, a second calculation unit 114, an output unit 115, and an accumulation unit 116 as functional configurations.

  The accumulation unit 116 accumulates the operation pattern of the robot 10. The operation pattern is, for example, time series data of operation target values of the actuators 21 to 27.

  The target acquisition unit 111 acquires the target value of the position / posture of the distal end portion 16 from the programming pendant 120. The position / posture target values acquired by the target acquisition unit 111 may be input to the programming pendant 120 by the user or may be read from the recording medium via the programming pendant 120. .

  The first calculation unit 112 calculates the operation target values of the actuators 21 to 26 corresponding to the position / posture target values under the condition that the operation target value of the seventh actuator 27 for distance adjustment is fixed to the initial value. The operation target values of the actuators 21 to 27 are stored in the storage unit 116.

  The operation target value of the seventh actuator 27 is a target value of the operation amount for adjusting the distance L1 between the second axis Ax2 and the third axis Ax3, for example, the target value of the bending angle of the first arm portion 13. The initial value of the bending angle of the first arm portion 13 is, for example, 0 °.

  The operation target value of the first actuator 21 is a target value of the turning angle of the turning unit 12, for example. The operation target value of the second actuator 22 is, for example, a target value of the swing angle of the first arm portion 13. The operation target value of the third actuator 23 is, for example, a target value of the swing angle of the second arm portion 14. The operation target value of the fifth actuator 25 is, for example, a target value of the turning angle of the wrist portion 15. The operation target value of the fourth actuator 24 is, for example, a target value of the swing angle of the wrist portion 15. The operation target value of the sixth actuator 26 is a target value of the turning angle of the tip portion 16.

  The operation target values of the actuators 21 to 26 are calculated by, for example, inverse kinematic calculation. The first calculation unit 112 causes the accumulation unit 116 to store the calculation results of the operation target values of the actuators 21 to 27.

  The determination unit 113 determines whether or not the operation target value stored in the storage unit 116 can be output. For example, the determination unit 113 determines that the operation target value cannot be output when the actuators 21 to 27 are operated with the operation target values stored in the storage unit 116 and the robot 10 and the workpiece W interfere with each other. .

  The determination unit 113 sets at least one of the actuators 21 to 26 as a determination target, and even when the operation target value calculated by the first calculation unit 112 is outside the allowable range for the determination target actuator, May not be output. The determination unit 113 may set all of the actuators 21 to 26 as determination targets or only a part of the actuators 21 to 26 (for example, the second actuator 22, the third actuator 23, and the fourth actuator 24) as determination targets. . The determination unit 113 may set only the third actuator 23 and the fourth actuator 24 as a determination target, or may set only one of the third actuator 23 and the fourth actuator 24 as a determination target. The allowable range is set so that the operation amount of the portion driven by the determination target actuator is within the movable range. For example, when the third actuator 23 is a determination target, the allowable range of the operation target value of the third actuator 23 is set so that the swing angle of the second arm portion 14 is within the movable range.

  When the determination unit 113 determines that the operation target value cannot be output, the second calculation unit 114 corrects the operation target values of the actuators 21 to 27 so that the output can be performed. For example, when the determination unit 113 determines that interference between the robot 10 and the workpiece W occurs, the second calculation unit 114 decreases the distance L1 between the second axis Ax2 and the third axis Ax3, and the robot 10 and the workpiece The operation target values of the actuators 21 to 27 are corrected so as to avoid interference with W. Specifically, the second calculation unit 114 sets a constraint condition so as to avoid the interference between the robot 10 and the workpiece W, and sets the operation target values of the actuators 21 to 27 by inverse kinematic calculation to which the constraint condition is applied. It may be corrected.

  The second calculation unit 114 sets the operation target values of the actuators 21 to 27 so that the operation target value falls within the allowable range when the operation target value of the at least one determination target actuator falls outside the allowable range. It may be corrected. Specifically, the second calculation unit 114 sets the constraint condition for the actuator whose operation target value is outside the allowable range so that the operation target value falls within the allowable range, and then applies the constraint condition. The operation target values of the actuators 21 to 27 may be corrected by the inverse kinematic calculation.

  The second calculation unit 114 sets the constraint condition such that the first arm portion 13 is bent in a direction in which the seventh axis Ax7 for distance adjustment moves away from the workpiece W, and calculates the operation target values of the actuators 21 to 27. May be.

  The second calculation unit 114 stores the calculation result of the operation target value of the actuators 21 to 27 in the storage unit 116 and overwrites the previous calculation result.

  The output unit 115 controls the actuators 21 to 27 according to the operation target value. Specifically, the output unit 115 controls the actuators 21 to 27 so that the operation amounts of the respective units by the actuators 21 to 27 substantially coincide with the set operation target values. The output unit 115 controls the transport actuator 32 in addition to the actuators 21 to 27.

  The controller 100 acquires the target value of the position / posture of the distal end portion 16 and the actuators 21 to 21 corresponding to the target value of the position / posture under the condition that the operation target value of the seventh actuator 27 for distance adjustment is fixed. 26 to calculate the motion target value, to determine whether the calculated motion target value can be output, and to determine that the output of the motion target value is not possible. It is sufficient that the operation target value of 27 is corrected and the actuators 21 to 27 are controlled in accordance with the operation target value. The first calculation unit 112, the determination unit 113, the second calculation unit 114, the output unit 115, and the storage unit 116 may not be separated.

  FIG. 9 is a diagram illustrating an example of a hardware configuration of the controller 100. The controller 100 illustrated in FIG. 9 includes a circuit 130. The circuit 130 includes a processor 131, a memory 132, a storage 133, an input / output port 134, and a plurality of motor drivers 136. The input / output port 134 inputs / outputs data to / from the programming pendant 120 and the plurality of motor drivers 136. The plurality of motor drivers 136 respectively control the actuators 21 to 27 and the transport actuator 32 of the two robots 10. The processor 131 executes the program in cooperation with at least one of the memory 132 and the storage 133, and inputs / outputs data via the input / output port 134, thereby causing the controller 100 to execute the target acquisition unit 111, the first calculation unit. 112, function as the determination unit 113, the second calculation unit 114, the output unit 115, and the storage unit 116.

  The hardware configuration of the controller 100 is not necessarily limited to one that performs each function by executing a program. For example, at least a part of the target acquisition unit 111, the first calculation unit 112, the determination unit 113, the second calculation unit 114, the output unit 115, and the storage unit 116 may be configured by a logic circuit specialized for the function. Alternatively, the logic circuit may be configured by an ASIC (Application Specific integrated circuit).

[Control method]
Subsequently, a control procedure of the robot 10 and the transfer device 30 by the controller 100 will be described as an example of a control method according to the present disclosure.

(Outline of control procedure)
As shown in FIG. 10, first, the controller 100 executes step S01. In step S01, at least one of the first calculation unit 112 and the second calculation unit 114 stores the calculation results of the operation target values of the actuators 21 to 27 in the storage unit 116, and constructs the operation patterns of the two robots 10. The operation patterns of the two robots 10 are constructed so as to process the workpiece W.

  Next, the controller 100 executes steps S02 to S04. In step S02, the output unit 115 controls the transport actuator 32 so as to start transporting the workpiece W. In step S03, the output unit 115 controls the two robots 10 so as to execute machining on the workpiece W. That is, the output unit 115 controls the actuators 21 to 27 of the two robots 10 according to the operation target value stored in the storage unit 116. In step S04, the output unit 115 controls the transport actuator 32 so as to end the transport of the workpiece W.

  Next, the controller 100 executes step S05. In step S05, the output unit 115 determines whether or not a machining end command has been input. The processing end command is input through the programming pendant 120, for example. If the machining end command has not been input, the controller 100 returns the process to step S02. Thereby, the same processing procedure is repeated. If a machining end command is input, the controller 100 ends the process.

(Operation pattern generation procedure)
Next, the operation pattern generation procedure in step S01 will be described in more detail. As shown in FIG. 11, the controller 100 first executes step S11. In step S <b> 11, the target acquisition unit 111 acquires the target value of the position / posture of the distal end portion 16 from the programming pendant 120.

  Next, the controller 100 executes steps S12 and S13. In step S12, the first calculation unit 112 sets the operation target value of the seventh actuator 27 for distance adjustment to an initial value. For example, the 1st calculation part 112 sets the bending angle of the 1st arm part 13 to 0 degree. In step S13, the first calculation unit 112 calculates the operation target values of the actuators 21 to 26 corresponding to the position / posture target values under the condition that the operation target value of the seventh actuator 27 is fixed to the initial value. The calculation results of the actuators 21 to 27 are stored in the storage unit 116.

  Next, the controller 100 performs step S14. In step S <b> 14, the determination unit 113 determines whether or not the operation target value stored in the storage unit 116 can be output. For example, when the actuators 21 to 27 are operated with the operation target values stored in the storage unit 116 and the interference between the robot 10 and the workpiece W occurs, the determination unit 113 cannot output the operation target value. Is determined.

  The determination unit 113 determines at least one of the actuators 21 to 26 as a determination target and determines that the operation target value cannot be output even when the operation target value of the determination target actuator is outside the allowable range. Good.

  When it is determined in step S14 that the operation target value cannot be output, the controller 100 executes steps S15 and S16.

  In step S15, the second calculation unit 114 sets the operation target value of the seventh actuator 27 so that the operation target value can be output. For example, the second calculation unit 114 sets the operation target value of the seventh actuator 27 so as to shorten the distance L1 and avoid the interference between the robot 10 and the workpiece W. The second calculation unit 114 may set the operation target value of the seventh actuator 27 so as to share a part of the operation target value that is outside the allowable range in the other actuators.

  In step S16, the second calculation unit 114 calculates the operation target values of the actuators 21 to 26 corresponding to the position / posture target values under the condition that the operation target value of the seventh actuator 27 is fixed to the set value in step S15. calculate. The second calculation unit 114 stores the calculation result of the operation target value of the actuators 21 to 27 in the storage unit 116 and overwrites the previous calculation result.

  Thereafter, the controller 100 returns the process to step S14. Thus, steps S14 to S15 are repeated until the operation target value can be output.

  In Steps S15 and S16, the second calculation unit 114 calculates the operation target values of the actuators 21 to 27 so that the first arm portion 13 is bent in the direction in which the seventh axis Ax7 for distance adjustment moves away from the workpiece W. May be. That is, the controller 100 may control the actuators 21 to 27 so as to bend the first arm portion 13 in the direction in which the seventh axis Ax7 moves away from the workpiece W.

  The calculation procedure of the operation target values of the actuators 21 to 27 by the second calculation unit 114 is not limited to the above. For example, instead of setting the operation target value of the seventh actuator 27 in step S15, the operation target value of the actuator itself whose operation target value is outside the allowable range may be set to a value within the allowable range. Good. Correspondingly, in step S16, the actuators 21 to 26 excluding the actuator for which the operation target value was set in step S15, and the operation target value of the seventh actuator 27 may be calculated.

  When it is determined in step S14 that the operation target value can be output, the controller 100 executes step S17. In step S17, the controller 100 determines whether or not the construction of the operation pattern is completed. Specifically, for example, the target acquisition unit 111 determines whether or not all target values of positions and orientations necessary for construction of the motion pattern have been acquired. Whether or not all position / posture target values have been acquired is determined based on, for example, a completion command input by the user to the programming pendant 120 or a completion command read by the programming pendant 120 from the recording medium.

  If it is determined in step S17 that the construction of the operation pattern has not been completed, the controller 100 returns the process to step S11. Thereby, steps S11 to S17 are repeated until the construction of the operation pattern is completed, and time series data of the operation target values of the actuators 21 to 27 is constructed.

  If it is determined in step S17 that the construction of the operation pattern has been completed, the controller 100 ends the process.

(Robot motion)
With the above configuration, the controller 100 controls the robot 10 so as to operate in the operation pattern generated in steps S11 to S17. For example, the controller 100 controls the robot 10 to move the end effector 17 to a plurality of processing target parts P1 of the workpiece W, and the end effector 17 causes the end effector 17 to be placed in the processing target part P1. The robot 10 is controlled so as to process the processing target part P1.

  The plurality of processing target sites P1 include a processing target site P1 that is higher than the base end portion of the first arm portion 13 and a processing target site P1 that is lower than the base end portion of the first arm portion 13. There is. In this case, as shown in FIGS. 12A to 12F, the controller 100 is in a state where the distal end portion of the second arm portion 14 is located closer to the workpiece W than the proximal end portion of the first arm portion 13. The robot 10 is controlled to move the end effector 17 between a position higher than the base end of the first arm 13 and a position lower than the base end.

  In this process, the distal end of the first arm 13 may move between a position higher than the base end of the first arm 13 and a position lower than the base end. That is, controlling the robot 10 to move the end effector 17 between a position higher than the base end portion of the first arm portion 13 and a position lower than the base end portion means that the base end portion of the first arm portion 13 It may include controlling the robot 10 to move the distal end portion of the first arm portion 13 between a higher position and a lower position than the base end portion.

  As described above, when the robot 10 rotates the first arm 13 around the second axis Ax2 with the distance L1 as the longest distance L11 in a state of facing the workpiece W, the tip of the first arm 13 is reached. The base part PP2 of the part DP1 or the second arm part 14 is positioned so as to interfere with the workpiece W. For this reason, when the end effector 17 is moved between a position higher than the base end of the first arm 13 and a position lower than the base end with the distance L1 fixed to the longest distance L11, the robot 10 It may interfere with the workpiece W. When the distal end of the first arm 13 is moved between a position higher than the base end of the first arm 13 and a position lower than the base end with the distance L1 fixed to the longest distance L11, the robot The possibility that 10 will interfere with the workpiece W is further increased.

  On the other hand, according to steps S11 to S17, the operation patterns of the actuators 21 to 27 are generated so as to reduce the distance L1 and avoid the interference between the robot 10 and the workpiece W. In this case, the controller 100 moves the end effector 17 between a position higher than the base end of the first arm 13 and a position lower than the base end between the second axis Ax2 and the third axis Ax3. Is controlled by the seventh actuator 27. That is, controlling the robot 10 to move the end effector 17 between a position higher than the base end portion of the first arm 13 and a position lower than the base end portion means that the second axis Ax2 and the third axis Ax3 The robot 10 may be controlled to change the distance between them by the seventh actuator 27.

[Effects of First Embodiment]
As described above, according to the machining apparatus 1, in the state of facing the workpiece W, the distance L1 between the second axis Ax2 and the third axis Ax3 is set to the longest distance L11, and the first axis around the second axis Ax2. When the arm portion 13 is rotated, the robot 10 approaches the workpiece W so that the distal end portion of the first arm portion 13 or the proximal end portion of the second arm portion 14 interferes with the workpiece. For this reason, it is easy to make the end effector 17 reach a more distal processing target site. Even when the robot 10 is disposed close to the workpiece W, the distance L1 between the second axis Ax2 and the third axis Ax3 is shortened by the seventh actuator 27, thereby avoiding interference between the robot 10 and the workpiece W. The end effector 17 can be moved. Therefore, it is possible to achieve both the widening of the reach range by the proximity arrangement and the widening of the movable range by avoiding the interference, and the individual robot 10 can process the work W over a wide range.

  FIG. 13 is a diagram illustrating the operation of the seventh actuator 27. The robot 10 indicated by a two-dot chain line in FIG. 13 shows a case where the end effector 17 is arranged at the processing target portion without bending the first arm portion 13. The robot 10 indicated by a two-dot chain line interferes with the workpiece W. On the other hand, the robot 10 indicated by a solid line shows a case where the seventh actuator 27 is operated so as to shorten the distance between the second axis Ax2 and the third axis Ax3 by bending the first arm 13. ing. In the robot 10 indicated by the solid line, the portion between the fourth axis Ax4 and the second axis Ax2 moves away from the workpiece W while the position and posture of the tip end portion 16 are maintained, and the robot 10 is prevented from interfering with the workpiece W. ing.

  When the robot 10 rotates the first arm 13 around the second axis Ax2 with the distance L1 as the shortest distance L12 while facing the workpiece W, the robot 10 and the second arm 13 You may position so that the base end part of the arm part 14 may not interfere with the workpiece | work W. FIG. In this case, the interference between the robot 10 and the workpiece W can be avoided more reliably. Accordingly, it is possible to more reliably achieve both the widening of the reachable range by the proximity arrangement and the widening of the movable range by avoiding interference.

  Between the position higher than the base end portion of the first arm portion 13 and the position lower than the base end portion in a state where the tip end portion of the second arm portion 14 is positioned closer to the workpiece W than the base end portion of the first arm portion 13. The controller 100 for controlling the robot 10 to move the end effector 17 may be further provided. In this case, it is possible to effectively utilize a configuration that enables both a wide reachable range by proximity arrangement and a wide movable range by avoiding interference, and processing a wide range of the workpiece W by each robot 10. Can do.

  Controlling the robot 10 to move the end effector 17 between a position higher than the base end of the first arm 13 and a position lower than the base end is higher than the base end of the first arm 13. The robot 10 may be controlled to move the distal end portion of the first arm portion 13 between the position and a position lower than the base end portion. In this case, it is possible to further effectively utilize the configuration that enables both the widening of the reachable range due to the proximity arrangement and the widening of the movable range due to avoidance of interference, and processing the wide range of the workpiece W by the individual robots 10. be able to.

  Controlling the robot 10 to move the end effector 17 between a position higher than the base end of the first arm 13 and a position lower than the base end is between the second axis Ax2 and the third axis Ax3. The robot 10 may be controlled to change the distance L1 by the seventh actuator 27. In this case, it is possible to more reliably utilize a configuration that enables both a wide reach range by proximity arrangement and a wide movable range by avoiding interference, and machining a wide range of workpieces with individual robots. it can.

  The plurality of posture adjustment actuators include a fourth actuator 24 that swings the wrist 15 about the fourth axis Ax4, and the robot 10 faces the workpiece W from the processing target portion at the highest position in a state of facing the workpiece W. The distance to the base end PE1 of the first arm 13 and the distance from both of the lowest positions to be processed to the base end PE1 of the first arm 13 are equal to or less than the length La determined by the above formula (1). You may be located so that. In this case, the end effector 17 can be arranged on both the highest position and the lowest position of the workpiece W. Therefore, the processing can be performed in a wider range by each robot 10.

  With the robot 10 facing the workpiece W, the first arm moves from a position shifted upward at an equal distance from the fourth axis Ax4 to the end effector 17 with respect to the highest processing target portion of the workpiece W. The position of the first arm 13 from the position shifted downward at the same distance as the distance from the fourth axis Ax4 to the end effector 17 with respect to the distance to the base end PE1 of the portion 13 and the lowest position of the workpiece W in the workpiece W You may position so that the distance to base end PE1 may become below length Lb calculated | required by said Formula (2). In this case, the end effector 17 can be arranged in various postures with respect to both the highest processing target portion and the lowest processing target portion in the workpiece W. Therefore, the processing can be performed in a wider range by each robot 10.

  The robot 10 may be positioned such that the height of the base end PE1 of the first arm portion 13 is equal to or higher than the height Ha obtained by the above formula (3). In this case, the end effector 17 can be arranged in various postures with respect to the processing target portion at the highest position in the workpiece W. Therefore, the processing can be performed in a wider range by each robot 10.

  The robot 10 may be positioned such that the height of the base end PE1 of the first arm 13 is equal to or less than the height Hb obtained by the above formula (4). In this case, the end effector 17 can be arranged in various postures with respect to both the highest processing target portion and the lowest processing target portion in the workpiece W. Accordingly, it is possible to process the workpiece W in a wider range by the individual robots 10.

  When the robot 10 performs processing on the workpiece W, the robot 10 may further include a transfer device 30 that transfers at least one of the workpiece W and the robot 10 so as to change a relative position between the workpiece W and the robot 10. In this case, by coordinating the transfer device 30 and the robot 10, it is possible to properly arrange the distal end portion 16 with respect to a wide range of processing target parts. On the other hand, since the relative arrangement of the workpiece W and the robot 10 changes, the ease with which the robot 10 interferes with the workpiece W also changes. On the other hand, the robot 10 further includes a seventh actuator 27 for adjusting the distance, in addition to the actuators 21 to 26 that adjust the position and posture of the distal end portion 16. Therefore, the posture of the robot 10 between the base 11 and the distal end portion 16 can be freely changed while maintaining the position / posture of the distal end portion 16. Thereby, it is possible to flexibly cope with a change in the relative arrangement of the workpiece W and the robot 10 and suppress mutual interference. Due to the characteristic of easily avoiding the workpiece W, there are many options for arranging the robot 10. Therefore, an easy production facility can be constructed.

  In addition, by freely changing the posture of the robot 10, it is possible to suppress the interference of the robot 10 with peripheral devices. For this reason, it is possible to shorten the work time by arranging the robots 10 at high density.

  The robot 10 may be arranged so as to be able to perform processing without interfering with the workpiece W with respect to all the processing target parts from the robot side. In this case, it is possible to perform processing on all the processing target parts from the robot 10 side with one robot 10, or a plurality of robots 10 are arranged on the same side, and all the processing target parts are assigned to these robots 10. It can also be shared. This makes it possible to construct a flexible production facility according to the production volume. However, it is not indispensable to arrange the robot 10 so as to be able to process all the parts to be processed.

  The conveyance device 30 may convey the workpiece W. In this case, it is easier to simplify the configuration of the transfer device 30 than to transfer the robot 10 including a large number of power sources. Therefore, it is possible to construct an easier production facility. However, the transport device 30 may be any device that changes the relative positions of the workpiece W and the robot 10, and may transport the robot 10, or may transport both the workpiece W and the robot 10. There may be.

  As illustrated in FIG. 14, the processing apparatus 1 may include a plurality of robots 10 arranged so as to be aligned in the conveyance direction by the conveyance device 30. As described above, each of the robots 10 arranged along the transport direction can perform processing on a wide range of processing target parts. For this reason, a process target site | part can be allocated with the various pattern with respect to the several robot 10 located along a conveyance direction, and more efficient production equipment can be constructed | assembled.

  In FIG. 14, two robots 10 arranged along the conveyance direction by the conveyance device 30 are shown. However, the present invention is not limited to this, and the processing device 1 is arranged so as to line up along the conveyance direction of the conveyance device 30. Alternatively, three or more robots 10 may be provided.

  The processing apparatus 1 may include a plurality of robots 10 arranged so as to sandwich the workpiece W in a direction orthogonal to the conveyance direction by the conveyance device 30. In this case, the amount of movement of each robot 10 can be suppressed by sharing all the processing target parts to the plurality of robots 10. Thereby, interference of the robot 10 with respect to the workpiece | work W is further suppressed. In addition, the arrangement in which the workpiece W is sandwiched in a direction orthogonal to the conveyance direction by the conveyance device 30 also suppresses interference between the robots 10. Therefore, it is possible to construct an easier production facility.

  It is not essential that the plurality of robots 10 be arranged so as to sandwich the workpiece W in a direction orthogonal to the conveyance direction by the conveyance device 30. For example, as shown in FIG. 15, the robot 10 may be disposed only on the left side of the workpiece W. Also in this case, the robot 10 may be arranged so as to be able to perform machining without interfering with the workpiece W with respect to all the machining target parts from the robot 10 side. For example, in FIG. 15, each robot 10 may be arranged so as to be able to perform processing on both the left all processing target site P1 and the right all processing target site P1.

  FIG. 15 shows two robots 10 arranged in the direction of conveyance by the conveyance device 30. However, the present invention is not limited to this, and the processing device 1 may include only one robot 10. .

  The controller 100 responds to the target value of the position / orientation under the condition that the target acquisition unit 111 that acquires the target value of the position / orientation of the distal end portion 16 and the operation target value of the seventh actuator 27 for distance adjustment are fixed. The first calculation unit 112 that calculates the operation target value of the actuators 21 to 26 to be performed and at least one of the actuators 21 to 26 is set as a determination target, and whether or not the operation target value is within an allowable range for the determination target actuator. Corresponding to the position / posture target values so that the operation target value falls within the allowable range when the operation target value is out of the allowable range for the determination unit 113 and the at least one determination target actuator. A second calculation unit 114 that calculates the operation target values of the actuators 21 to 26 and the seventh actuator 27 for adjusting the distance; Flip an output unit 115 for controlling the actuators 21 to 27 and may have.

  As described above, according to the robot 10, while interference can be suppressed, the operation target values of the actuators 21 to 27 corresponding to the position / posture target values of the distal end portion 16 are not fixed. For this reason, in the operation teaching of the robot 10, it is necessary to appropriately set some constraint condition.

  On the other hand, the controller 100 first calculates the operation target values of the actuators 21 to 26 under the condition that the operation target value of the seventh actuator 27 is fixed. Next, when the operation target value of the determination target actuator is outside the allowable range, the operations of the actuators 21 to 26 and the seventh actuator 27 for adjusting the distance are adjusted so that the operation target value falls within the allowable range. The target value is automatically recalculated. If the operation amount of the actuator of the robot 10 is suppressed within an allowable range, the operation amount of the entire robot 10 is also suppressed, so that there is a tendency that interference with the workpiece W or peripheral equipment is less likely to occur.

  For example, in the robot 10 indicated by a two-dot chain line in FIG. 13, the operation target value of the third actuator 23 is outside the allowable range. That is, the target value θ3 of the swing angle of the second arm portion 14 with respect to the first arm portion 13 is excessive. On the other hand, in the robot 10 indicated by the solid line in FIG. 13, the actuators 21 to 26 and the seventh distance adjusting seventh are set so as to relax the target value θ3 of the swing angle of the second arm 14 relative to the first arm 13. The operation target value of the actuator 27 is recalculated. Accordingly, the portion between the fourth axis Ax4 and the second axis Ax2 is moved away from the work W, and the robot 10 is prevented from interfering with the work W.

  Thus, by adopting the condition that the operation target value of the determination target actuator is kept within the allowable range, it is possible to reduce the probability of occurrence of interference with the workpiece W or peripheral equipment. Thereby, it is possible to automatically construct a large part of the operation pattern in which the distal end portion 16 is appropriately disposed in the vicinity of each processing target portion while avoiding interference with the workpiece W or peripheral devices. Therefore, since the burden of teaching operation to the robot 10 is reduced, it is possible to construct a production facility more easily.

  The seventh actuator 27 for distance adjustment adjusts the distance L1 between the second axis Ax2 and the third axis Ax3 by bending the first arm portion 13 around the seventh axis Ax7 for distance adjustment. In this case, compared with simply adjusting the distance L1 between the second axis Ax2 and the third axis Ax3 by simply extending and contracting the first arm portion 13, the amount of operation of the actuators 21 to 26 tends to be suppressed. In addition, the posture of the robot 10 is adjusted in various ways, and the work W or peripheral devices tend to be avoided. Therefore, it is possible to construct an easier production facility. However, the seventh actuator 27 may be any actuator as long as the distance L1 between the second axis Ax2 and the third axis Ax3 can be adjusted. For example, the seventh actuator 27 is a linear motion actuator that expands and contracts the first arm portion 13. May be.

  The seventh axis Ax7 for distance adjustment is parallel to the second axis Ax2. If a robot having the seventh axis Ax7 perpendicular to the second axis Ax2 is used, the first arm 16 can be placed at a desired position / posture while avoiding robot interference with the workpiece W. It may be necessary to tilt the portions corresponding to the portion 13 and the second arm portion 14 largely to the side (side when the workpiece W side is the front). As a result, interference with peripheral devices (for example, other adjacent robots) may occur. Therefore, it is necessary to increase the interval between the robot and the peripheral devices. This is one factor that hinders high-density arrangement of a plurality of robots, for example. On the other hand, in the robot 10, since the seventh axis Ax7 is parallel to the second axis Ax2, the first arm 13 and the second arm 14 are caused to move at least around the seventh axis Ax7. It is difficult to incline to the side, and interference with adjacent peripheral devices hardly occurs. Therefore, since there are more choices for the arrangement of the robot 10, it is possible to construct an easier production facility. It is also possible to arrange a plurality of robots at higher density and further reduce the work time. However, it is not essential that the seventh axis Ax7 is parallel to the second axis Ax2.

  The seventh axis Ax7 for adjusting the distance is also parallel to the third axis. In this case, when the distal end portion 16 is arranged at a desired position / posture, it is further difficult to cause the first arm portion 13 and the second arm portion 14 to be tilted to the side, so that it is possible to construct an easier production facility. It becomes. It is also possible to arrange a plurality of robots at higher density and further reduce the work time. However, it is not essential that the seventh axis Ax7 is parallel to the third axis Ax3.

  The second calculation unit 114 may calculate the operation target values of the actuators 21 to 27 such that the first arm portion 13 is bent in a direction in which the seventh axis Ax7 for distance adjustment moves away from the workpiece W. That is, the controller 100 may control the actuators 21 to 27 such that the first arm portion 13 is bent in a direction in which the seventh axis Ax7 moves away from the workpiece W. In this case, the interference of the robot 10 with respect to the workpiece W and adjacent peripheral devices is more reliably suppressed.

  A plurality of posture adjustment actuators for adjusting the posture of the tip portion 16 include a fifth actuator 25 for turning the wrist portion 15 about the fifth axis Ax5, a fourth actuator 24 for swinging the wrist portion 15 about the fourth axis Ax4, And a sixth actuator 26 that pivots the distal end portion 16 about the sixth axis Ax6. In this case, the posture of the distal end portion 16 can be freely adjusted by cooperation of the actuators 24 to 26. However, the plurality of posture adjustment actuators are not limited to the actuators 24 to 26, and may be any one as long as the posture of the distal end portion 16 can be adjusted. For example, one of the fourth actuator 24, the fifth actuator 25, and the sixth actuator 26 may be omitted depending on the required degree of posture adjustment.

  The determination unit 113 may set at least one of the second actuator 22, the third actuator 23, and the fourth actuator 24 as a determination target. The movement amounts of these actuators tend to correlate easily with the movement amount of the entire robot. Therefore, by setting these actuators as determination targets and suppressing the operation range within an allowable range, the operation amount of the entire robot 10 can be more reliably suppressed, and interference can be further suppressed.

  The determination unit 113 may set at least one of the third actuator 23 and the fourth actuator 24 as a determination target. The movement amount of these actuators tends to be particularly correlated with the movement amount of the entire robot. Therefore, by setting these actuators as determination targets and suppressing the operation range within an allowable range, the operation amount of the entire robot 10 can be more reliably suppressed, and interference can be further suppressed.

  The robot 10 may further include a welding device provided at the distal end portion 16 as the end effector 17. In this case, welding can be performed on a wide range of parts to be processed while suppressing interference of the robot 10 with the workpiece W or peripheral devices.

  According to the processing apparatus 1, the workpiece W is arranged on the pallet 31 so that the robot 10 can process it, and the pallet 31 is transferred by the transfer actuator 32 so that the relative position between the workpiece W and the robot 10 is changed. It is possible to execute a method for producing a workpiece W including performing processing on the workpiece W by the robot 10.

  Further, the target values of the actuators 21 to 26 corresponding to the target values of the position / posture are obtained under the condition that the target value of the position / posture of the distal end portion 16 is acquired and the target value of the seventh actuator 27 is fixed. Calculating, determining at least one of the actuators 21 to 26 as a determination target, determining whether the operation target value is within an allowable range for the determination target actuator, and determining an operation target value for at least one determination target actuator If the target value of the actuators 21 to 27 corresponding to the position / posture target value is calculated so that the target operation value falls within the allowable range, Thus, a method for producing the workpiece W including controlling the actuators 21 to 27 is also feasible.

  A teaching method including inputting position / posture target values to the controller 100 and storing the operation target values of the actuators 21 to 27 calculated by the controller 100 so as to correspond to the position / posture target values. Is also feasible.

2. Second Embodiment As shown in FIG. 16, a processing apparatus 1 </ b> A according to the second embodiment is obtained by replacing the conveyance device 30 of the processing apparatus 1 according to the first embodiment with a holding base 50 (work placement unit). . The holding table 50 holds the workpiece W at a position where the robot 10 can process it. As shown in FIG. 17, the two robots 10 are arranged along the line EL <b> 1 surrounding the workpiece W, and perform processing on the same workpiece W in cooperation with each other. The “line surrounding the workpiece W” does not necessarily have to be along the periphery of the workpiece W, but does not include a line orthogonal to the periphery of the workpiece W. The robot 10 is arranged so that the movable range WR overlaps with another adjacent robot 10. The arrangement conditions for the individual robots 10 and the workpieces W are the same as in the first embodiment.

[Effects of Second Embodiment]
As described above, the processing apparatus 1 includes the robot 10 and includes a plurality of robots that perform processing on the same workpiece in cooperation with each other. Since the robot 10 is included in a plurality of robots that process the same workpiece W, it is possible to suppress the interference of the robot with respect to the workpiece W and the interference between the robots. Therefore, an easy production facility can be constructed. It is also possible to shorten the work time by arranging a plurality of robots at high density.

  Since the processing apparatus 1 only needs to include a plurality of robots that perform processing on the same workpiece W, the number of robots is not limited to two. For example, as shown in FIG. 18, three or more robots may be provided. The processing apparatus 1 in FIG. 18 includes four robots 10. The four robots 10 are arranged along the line surrounding the workpiece W so as to surround the workpiece W.

  16 and 18, all of the plurality of robots are robots 10. For this reason, in all the robots, the posture of the robot between the base 11 and the tip portion 16 can be freely changed while maintaining the position and posture of the tip portion 16. Therefore, the interference of the robot with respect to the workpiece W and the interference between the robots can be more reliably suppressed.

  However, it is not essential that all the robots are robots 10. For example, as shown in FIGS. 19 and 20, the plurality of robots of the processing apparatus 1 may further include a robot 40 (second robot). The robot 40 includes actuators 21 to 26 and does not include the seventh actuator 27 for adjusting the distance. The robot 40 is obtained by replacing the first arm portion 13 and the seventh actuator 27 with a first arm portion 43. Even in such a configuration, by including the robot 10 in a plurality of robots, an effect of suppressing the interference of the robot with the workpiece W and the interference between the robots can be obtained. The number of robots is not limited, and may be two as shown in FIG. 19, or may be three or more as shown in FIG.

  The robot 10 and the robot 40 may be arranged adjacent to each other. In this case, interference between robots can be more reliably suppressed.

  As illustrated in FIG. 19, the processing apparatus 1 may be configured such that the robot 10 performs processing closer to the workpiece W than the robot 40. When processing on the proximal side of the workpiece W, the robot takes a posture in which the arm is folded. In such a posture, the movement amount of some actuators tends to reach the allowable limit. Also, the folded arm tends to easily interfere with the workpiece W or another robot. Therefore, by assigning the processing toward the proximal side of the workpiece W to the robot 10 that can suppress the interference, the interference of the robot with respect to the workpiece W and the interference between the robots can be more reliably suppressed.

  As illustrated in FIG. 20, the processing apparatus 1 may be configured such that the robot 10 is positioned closer to the workpiece W than the robot 40. That is, the distance D1 from the base 11 of the robot 10 to the workpiece W may be smaller than the distance D2 from the robot 40 to the workpiece W. In this case, the end effector 17 can be reached over a wide range of the workpiece W by arranging the robot 10 capable of suppressing interference closer to the workpiece W. As a result, a portion that cannot be processed by the robot 40 can be supplemented by the robot 10 and processing can be performed over a wide range of the workpiece W.

  All the robots are fixed to the installation surface, and the robot 10 may be arranged so that the movable range overlaps with other adjacent robots. In this case, the effect of interference suppression by the robot 10 becomes more remarkable.

  Although the embodiment has been described above, the present invention is not necessarily limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. For example, the workpiece W of the processing apparatus 1 is not limited to an automobile body. The processing apparatus 1 can be applied to processing of door panels of automobiles, and can also be applied to processing / assembly of various parts or products in technical fields other than automobiles.

  The present disclosure can be used for a processing apparatus.

  DESCRIPTION OF SYMBOLS 1,1A ... Processing apparatus, 10 ... Robot (1st robot), 12 ... Turning part, 13 ... 1st arm part, 14 ... 2nd arm part, 15 ... Wrist part, 16 ... Tip part, 17 ... End effector ( Welding device), 21 ... first actuator, 22 ... second actuator, 23 ... third actuator, 24 ... fourth actuator (posture adjustment actuator), 25 ... fifth actuator (posture adjustment actuator), 26 ... sixth actuator ( Posture adjustment actuator), 27 ... seventh actuator (distance adjustment actuator), 30 ... transport device, 40 ... robot (second robot), 100 ... controller, Ax1 ... first axis, Ax2 ... second axis, Ax3 ... third Axis, Ax4 ... 4th axis, Ax5 ... 5th axis, Ax6 ... 6th axis, Ax7 ... 7th axis (distance adjustment axis), L ... distance between second axis and third axis, P1, P2 ... part to be processed, W ... workpiece, L11 ... longest distance, L12 ... shortest distance, PE1 ... proximal end of first arm 13, DP1 ... first The distal end of the arm 13, PP2... The proximal end of the second arm 14, WR.

Claims (14)

A transfer device for transferring a workpiece;
A plurality of robots arranged so as to line up in the transport direction by the transport device and performing processing on the workpiece transported by the transport device;
The plurality of robots includes at least two first robots adjacent to each other,
The first robot is
A swivel unit, a first arm unit, a second arm unit, a wrist unit and a tip unit connected in series with each other;
A first actuator for turning the turning portion around a first axis;
A second actuator that swings the first arm portion around a second axis that passes through the connecting portion of the turning portion and the first arm portion and intersects the first axis;
A third actuator that swings the second arm portion around a third axis that passes through the connecting portion of the first arm portion and the second arm portion and is parallel to the second axis;
A fourth actuator that swings the wrist portion around a fourth axis that passes through a connecting portion of the second arm portion and the wrist portion and intersects a central axis of the second arm portion;
A fifth actuator that pivots the wrist portion around a fifth axis that intersects the third axis and the fourth axis along a central axis of the second arm;
A sixth actuator that pivots the tip portion around a sixth axis that intersects the fourth axis along the central axis of the wrist;
A distance adjusting actuator that adjusts a distance between the second axis and the third axis by bending the first arm portion around a distance adjusting axis parallel to the second axis and the third axis; ,
An end effector that is provided at the distal end portion and that performs spot welding on a workpiece for automobile production. When rotating one arm, the distance between the distal end of the first arm or the base end of the second arm interferes with the workpiece and faces the workpiece with the shortest distance. When the first arm portion is rotated around the second axis, the movable range of the distal end portion of the first arm portion and the proximal end portion of the second arm portion is positioned so as not to interfere with the workpiece. ,
The processing apparatus in which the movable range of the first robot overlaps the movable range of another adjacent robot.   Between a position higher than the base end of the first arm and a position lower than the base end in a state where the tip of the second arm is positioned closer to the workpiece than the base end of the first arm The processing apparatus according to claim 1, further comprising a controller that controls the first robot so as to move the end effector.   Controlling the first robot to move the end effector between a position higher than the base end of the first arm and a position lower than the base end is the base end of the first arm The processing apparatus according to claim 2, further comprising: controlling the first robot to move a distal end portion of the first arm portion between a higher position and a position lower than the base end portion.   Controlling the first robot to move the end effector between a position higher than the base end of the first arm and a position lower than the base end is the second axis and the third axis. The processing apparatus according to claim 2, further comprising: controlling the first robot to change a distance between the first robot and the distance adjustment actuator. The first robot is
In a state of facing the workpiece, the distance from the highest processing target site in the workpiece to the base end of the first arm and the lowest processing target site to the base end of the first arm. The processing apparatus according to any one of claims 1 to 4, wherein the distance is positioned such that the distance is equal to or shorter than a length La obtained by the expression (1).
La = L11 + L21 + L31 (1)
L11: longest distance from the second axis to the third axis L21: distance from the third axis to the fourth axis L31: distance from the fourth axis to the end effector The first robot is
When the end effector is arranged so that machining can be performed on the processing target portion at the highest position in the workpiece in a state of facing the workpiece, the base of the first arm portion is determined from the position of the fourth axis. The distance to the end, and the distance from the position of the fourth axis to the base end of the first arm when the end effector is arranged so that processing can be performed on the lowest processing target portion of the workpiece Is a processing apparatus according to claim 5, which is positioned so as to be equal to or shorter than a length Lb obtained by the expression (2).
Lb = L11 + L21 (2) The first robot is
In a state of facing the workpiece, the wrist portion is directed vertically downward from the position of the fourth axis when the end effector is arranged at the highest processing target site in the workpiece. From the position of the fourth axis to the base end of the first arm when the distance between the base end and the wrist effector is directed vertically upward and the end effector is disposed at the lowest processing target site in the workpiece The processing apparatus according to claim 5, wherein the distance is a length Lb or less determined by the expression (2).
Lb = L11 + L21 (2) The first robot is
The processing apparatus according to claim 7, wherein the height of the base end of the first arm portion is positioned so as to be equal to or higher than a height Ha obtained by Expression (3).
Ha = HH−L21 · cos θ−L11 (3)
HH: Height of the fourth axis when the end effector is placed at the highest processing target site in the workpiece with the wrist facing vertically downward θ: orthogonal to the third axis and the fourth axis Minimum value of angle between straight line and center axis of wrist The first robot is
The processing apparatus according to claim 8, wherein the height of the base end of the first arm portion is positioned to be equal to or less than a height Hb obtained by Expression (4).
Hb = HL + L21 · cos θ + L11 (4)
HL: the height of the fourth axis when the end effector is arranged at the lowest processing target site in the workpiece with the wrist facing vertically upward The first robot is
From the position of the fourth axis when the end effector is disposed at the highest position of the workpiece in the workpiece with the wrist facing vertically downward in the state of facing the workpiece, the equation (5) is obtained. The end effector with the distance Lc shifted to the near side and the distance from the position shifted downward with the height Hc determined by Equation (6) to the base end of the first arm portion, with the wrist portion directed vertically upward Is shifted to the near side by the distance Lc determined by the equation (5) from the position of the fourth axis when the workpiece is disposed at the lowest position of the workpiece in the workpiece, and is shifted upward by the height Hc determined by the equation (6). The processing apparatus according to claim 9, wherein a distance from the position to the base end of the first arm portion is set to be equal to or shorter than a longest distance from the second axis to the third axis.
Lc = L21 · sin θ (5)
Hc = L21 · cos θ (6)   The first robot can perform machining without interfering with the workpiece on all machining target portions from the first robot side among both sides of the workpiece in a direction orthogonal to the transfer direction. The processing apparatus according to claim 1, which is positioned as described above.   The processing apparatus according to claim 1, comprising a plurality of the first robots arranged so as to sandwich the workpiece in a direction orthogonal to a conveyance direction by the conveyance apparatus.   The processing apparatus according to claim 1, wherein all of the plurality of robots are fixed to an installation surface. A transfer device for transferring a workpiece;
A plurality of robots arranged so as to line up in the transport direction by the transport device and performing processing on the workpiece transported by the transport device;
The plurality of robots includes at least two first robots adjacent to each other,
The first robot is
A swivel unit, a first arm unit, a second arm unit, a wrist unit and a tip unit connected in series with each other;
A first actuator for turning the turning portion around a first axis;
A second actuator that swings the first arm portion around a second axis that passes through the connecting portion of the turning portion and the first arm portion and intersects the first axis;
A third actuator that swings the second arm portion around a third axis that passes through the connecting portion of the first arm portion and the second arm portion and is parallel to the second axis;
A fourth actuator that swings the wrist portion around a fourth axis that passes through a connecting portion of the second arm portion and the wrist portion and intersects a central axis of the second arm portion;
A fifth actuator that pivots the wrist portion around a fifth axis that intersects the third axis and the fourth axis along a central axis of the second arm;
A sixth actuator that pivots the tip portion around a sixth axis that intersects the fourth axis along the central axis of the wrist;
A distance adjusting actuator that adjusts a distance between the second axis and the third axis by bending the first arm portion around a distance adjusting axis parallel to the second axis and the third axis; ,
An end effector that is provided at the distal end portion and that performs spot welding on a workpiece for automobile production. When rotating one arm, the distance between the distal end of the first arm or the base end of the second arm interferes with the workpiece and faces the workpiece with the shortest distance. When the first arm portion is rotated around the second axis, the movable range of the distal end portion of the first arm portion and the proximal end portion of the second arm portion is positioned so as not to interfere with the workpiece. ,
The movable range of the first robot uses a processing device that overlaps the movable range of another adjacent robot,
Controlling the first robot and the transfer device so as to move the end effector to a plurality of processing target portions of the workpiece by cooperation of the first robot and the transfer device;
Controlling the first robot so that the end effector performs processing on the processing target portion with the end effector disposed at the processing target portion,
Controlling the first robot and the transfer device so as to move the end effector to a plurality of processing target parts of the workpiece by the cooperation of the first robot and the transfer device is the second axis and the second The first robot is moved so as to move the end effector between a position higher than the base end of the first arm and a position lower than the base end while changing the distance between the three axes by the distance adjusting actuator. A method for producing workpieces, including controlling.

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