JP6252597B2 - Robot system - Google Patents

Robot system Download PDF

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Publication number
JP6252597B2
JP6252597B2 JP2015548906A JP2015548906A JP6252597B2 JP 6252597 B2 JP6252597 B2 JP 6252597B2 JP 2015548906 A JP2015548906 A JP 2015548906A JP 2015548906 A JP2015548906 A JP 2015548906A JP 6252597 B2 JP6252597 B2 JP 6252597B2
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Prior art keywords
robot
workpiece
rotating
unit
posture
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JPWO2015075778A1 (en
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亮介 堤
亮介 堤
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株式会社安川電機
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Priority to PCT/JP2013/081188 priority Critical patent/WO2015075778A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1682Dual arm manipulator; Coordination of several manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed

Description

  The disclosed embodiment relates to a robot system.
  In the past, various robot systems have been proposed that improve the efficiency of work by assembling a plurality of parts while the robot is transporting or changing the posture in an assembly process in which a series of processes and parts are assembled. .
  An example of such a robot system is an assembly system in which a robot assembles an annular member to a shaft (see, for example, Patent Document 1).
JP2013-031892A
  However, the above-described conventional technology has room for further improvement in terms of efficiently producing processed products and assembled products.
  For example, in the robot system described above, assembly work is performed by one robot. For this reason, it is difficult to reverse a heavy work, and the work that can be performed by the robot is limited. In addition, if the assembly process includes a work process that changes the posture of the workpiece, such as reversing work, a dedicated device is required, which increases the installation area of the equipment and increases the cost of the equipment. It was.
  One aspect of the embodiment has been made in view of the above, and an object thereof is to provide a robot system capable of efficiently producing a processed product or an assembled product.
A robot system according to an aspect of an embodiment includes a plurality of robots and a control device. Each of the plurality of robots has a hand. Wherein the control device, in a state in which a workpiece comprising the drop member is a member which falls down to change the posture respectively is held in the hand, the operation for vertically inverting the workpiece while cooperation with each other to the plurality of robots Instruct. The control device may be configured such that when the workpiece is turned upside down, the plurality of robots are configured so that the hand holds the workpiece in a posture in which the dropping member is supported by at least one of the hands. To direct.
  According to one aspect of the embodiment, it is possible to provide a robot system that can efficiently produce a processed product or an assembled product.
FIG. 1 is a schematic diagram illustrating a series of operations of workpiece posture change by the robot system according to the embodiment. FIG. 2 is a schematic plan view showing the arrangement of the robot system. FIG. 3 is a top perspective view of the workpiece. FIG. 4A is a perspective view showing the configuration of the robot. FIG. 4B is a perspective view showing the configuration of the hand. FIG. 5 is a block diagram of the robot system. FIG. 6A is a schematic diagram (part 1) for explaining a series of operations for changing the posture of a workpiece of a robot. FIG. 6B is a schematic diagram (part 2) for explaining a series of operations for changing the posture of the workpiece of the robot. FIG. 6C is a schematic diagram (part 3) for explaining a series of operations for changing the posture of the workpiece of the robot. FIG. 6D is a schematic diagram (part 4) for explaining a series of operations for changing the posture of the workpiece of the robot. FIG. 7 is a schematic diagram for explaining phase alignment of the work of the rotating unit. FIG. 8 is a flowchart showing a processing procedure executed by the robot system.
  Hereinafter, an embodiment of a robot system disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.
  First, an operation of changing the posture of a workpiece by the robot system according to the embodiment will be described with reference to FIG. FIG. 1 is a schematic diagram illustrating a series of operations of workpiece posture change by the robot system according to the embodiment. As shown in FIG. 1, the robot system according to the embodiment includes a first robot and a second robot.
  The first robot and the second robot are multi-axis robots such as a seven-axis robot in which a plurality of arms are connected by joints, respectively, and a hand that can be held by gripping a workpiece, for example, at the tip. Prepare. In addition, the first robot and the second robot are provided so as to overlap each movable region where the workpiece can be gripped. In the following description, a plurality of arms may be collectively referred to as arms.
  By the way, as a conventional robot system, one in which assembly work is performed by one robot has been known. However, with such a conventional method, it is difficult to perform work such as reversing a heavy work, and the work that can be performed by the robot is limited.
  Therefore, if the work process that changes the posture of the work such as reversing work is included in the assembly process, a dedicated device is required, which increases the installation area of the equipment and increases the cost of the equipment. It was.
  Therefore, in the robot system according to the embodiment, the workpiece is simultaneously held by a plurality of robots, and the posture of the workpiece is changed while the plurality of robots cooperate with each other. Hereinafter, a method for changing the posture of the workpiece by the robot system according to the embodiment will be described.
  As shown in FIG. 1, the first robot and the second robot in the robot system according to the embodiment simultaneously hold and hold a workpiece (see step S1 in FIG. 1).
  Then, in a state where both the first robot and the second robot hold the workpiece, the first robot, for example, moves the arm as indicated by an arrow 601 in FIG. Each is moved as indicated by an arrow 602 in the figure. In this case, the first robot and the second robot operate in cooperation with each other so that the state of holding the workpiece is maintained (see step S2 in FIG. 1). Note that the directions in which the first robot and the second robot move the arms are not limited to the illustrated directions, and may be in opposite directions, for example.
  The first robot and the second robot stop moving the arm when the posture of the work is reversed with respect to the vertical direction (see step S3 in FIG. 1). As described above, in the robot system according to the embodiment, a plurality of robots simultaneously hold a workpiece and change the posture of the workpiece. This eliminates the need for a dedicated device for changing the posture of the workpiece, and enables efficient production of processed products and assemblies.
  Furthermore, by cooperating with a plurality of robots, the load due to the weight of the work per robot is reduced. Further, by forming a link structure in which a plurality of robots are closed via the workpiece, the load due to the moment of the workpiece is reduced as compared with a case where the workpiece is held only by a single arm of the robot. Therefore, it is possible to change the posture of the workpiece with a complicated and highly accurate trajectory that is difficult to execute with one robot without increasing the rigidity of the robot arm or joint.
  Although FIG. 1 shows the case where two robots grip the workpiece with their hands facing each other in the vertical direction, the directions of the hands gripping the workpiece may both be gripped from arbitrary directions.
  In FIG. 1, the reversal of the workpiece with respect to the vertical direction has been described as an example, but the workpiece posture change is not limited thereto. For example, the work may be tilted obliquely or the posture may be changed while moving. Therefore, the operation of the arm is not limited to the movement shown in FIG. 1, and may be set as appropriate in accordance with the change in the posture of the workpiece. Further, the number of robots is not limited to two, but can be any number of three or more.
  Next, the arrangement of the robot system 1 according to the embodiment will be described. FIG. 2 is a schematic plan view showing the arrangement of the robot system. 2 illustrates a three-dimensional orthogonal coordinate system including the Z axis with the vertical upward direction as the positive direction for easy understanding. Such an orthogonal coordinate system is also shown in other drawings used in the following description, and the positive direction of the Z axis may be shown as the upper side and the negative direction as the lower side with respect to the object. In the present embodiment, it is assumed that the positive direction of the X axis points to the front of the robot 12.
  Moreover, below, about the component comprised by two or more, a code | symbol may be attached | subjected only to one part among several, and provision of a code | symbol may be abbreviate | omitted about others. In such a case, it is assumed that a part with the reference numeral and the other have the same configuration.
  In addition, there are cases where components are identified by attaching a number in the form of “−number” to the reference numerals for the same number of components. In such a case, when these components are collectively referred to, only the reference numerals are used without using the “-number” numbering.
  As shown in FIG. 2, the robot system 1 includes a cell 11 that forms a rectangular parallelepiped work space. The robot system 1 includes two robots 12, a rotating unit 13, a work table 14, a work device 15, and a pallet table 16 inside the cell 11. Details of the robot 12 will be described later with reference to FIGS. 4A and 4B.
  A pallet 30 is locked on the pallet table 16. On the pallet 30, workpieces 40, members used by the robot 12 in each process, and the like are placed. The pallet 30 is disposed at a position where the robot 12-1 and the robot 12-2 can reach the article on the pallet 30.
  Here, an example of the workpiece 40 will be described with reference to FIG. In addition, in FIG. 3, although the case where the workpiece | work 40 contains the gear 41 and the rotation member 42 is shown as an example, the member contained in the workpiece | work 40 is not restricted to this. For example, the workpiece 40 only needs to include two members that contact or engage with each other. Further, the form of the workpiece 40 is not limited to the example shown in FIG. 3 and may be arbitrary.
  FIG. 3 is a top perspective view of the workpiece. As shown in FIG. 3, the workpiece 40 includes a gear 41 and a rotating member 42. The gear 41 includes a gear part 411 formed in an annular shape and an engaging part 412 formed coaxially with the gear part 411.
  The rotating member 42 has a body 421 and a rotating shaft 422. The rotating shaft 422 is provided so as to be rotatable around an axis AXw that is an axis connecting the axis of the rotating shaft 422 with respect to the body 421. The rotating shaft 422 is provided with both ends exposed from the two main surfaces of the body 421. A notch-shaped groove 423 is provided at one end of the rotating shaft 422.
  The gear 41 is attached to the other end of the rotating shaft 422 by, for example, spline fitting the engaging portion 412 (arrow 603). In FIG. 3, such a spline groove is indicated by a dotted line on the inner peripheral portion of the engaging portion 412, and by a solid line on the upper end portion of the rotating shaft 422 in the drawing. Thereby, the gear part 411 is arrange | positioned coaxially with the rotating shaft 422, and also the gear 41 is prevented from rotating with respect to the rotating shaft 422.
  Returning to the description of FIG. 2, the description of the robot system 1 will be continued. The rotating unit 13 is a device that holds the workpiece 40 and rotates the rotating shaft 422 (see FIG. 3). Details of the rotating unit 13 will be described later with reference to FIG. The work table 14 is a work table for the robot 12-1 to perform work on the workpiece 40 and the like. The work device 15 is a device that performs a predetermined work such as machining or assembly on the workpiece 40.
  In addition, the robot system 1 includes a control device 20 outside the cell 11. The control device 20 is connected to various devices in the cell 11 such as the robot 12, the rotating unit 13, and the work device 15 so that information can be transmitted.
  Here, the control device 20 is a controller that controls the operation of various connected devices, and includes various control devices, arithmetic processing devices, storage devices, and the like. Details of the control device 20 will be described later with reference to FIG.
  2 shows the control device 20 having one housing, the control device 20 may be configured by a plurality of housings associated with various devices to be controlled, for example. Further, it may be disposed inside the cell 11.
  Here, the “control device” means not only a single control device but also a control device group in which a plurality of control devices cooperate to perform control. Therefore, the control device 20 may include an upper control device and a lower control device that controls one or more robots 12 provided in association with the upper control device. Only the host control device may be used as the control device 20.
  Further, the control device 20 instructs the at least one robot 12 to operate. Note that when the above-described upper control device 20 instructs the robot 12 to operate, the instruction is transmitted to the robot 12 via the lower control device.
  Next, a configuration example of the robot 12 will be described with reference to FIG. 4A. FIG. 4A is a schematic perspective view illustrating the configuration of the robot. As shown in FIG. 4A, the robot 12 is a single-arm multi-axis robot. Specifically, the robot 12 includes a first arm unit 121, a second arm unit 122, a third arm unit 123, a fourth arm unit 124, a fifth arm unit 125, and a base unit 126. Prepare.
  The first arm portion 121 is supported at the base end portion by the second arm portion 122. The second arm portion 122 is supported at the base end portion by the third arm portion 123 and supports the first arm portion 121 at the distal end portion.
  The third arm portion 123 is supported at the base end portion by the fourth arm portion 124 and supports the second arm portion 122 at the distal end portion. The fourth arm portion 124 is supported at the base end portion by the fifth arm portion 125 and supports the third arm portion 123 at the distal end portion.
  The fifth arm portion 125 is supported at the base end portion by a base portion 126 fixed to the floor surface of the cell 11 (see FIG. 2), and supports the fourth arm portion 124 at the tip end portion. In addition, each joint part (not shown) that is each connection part of the first arm part 121 to the fifth arm part 125 is equipped with an actuator, and the robot 12 performs multi-axis operation by driving the actuator. It can be carried out.
  Specifically, the joint actuator that connects the first arm part 121 and the second arm part 122 rotates the first arm part 121 about the B axis. Further, the actuator of the joint portion that connects the second arm portion 122 and the third arm portion 123 rotates the second arm portion 122 around the U axis.
  In addition, the joint actuator that connects the third arm portion 123 and the fourth arm portion 124 rotates the third arm portion 123 about the L axis. Further, the actuator of the joint portion that connects the fourth arm portion 124 and the fifth arm portion 125 rotates the fourth arm portion 124 around the S axis.
  The robot 12 includes individual actuators that rotate the first arm 121 around the T-axis, the second arm 122 around the R-axis, and the third arm 123 around the E-axis.
  That is, the robot 12 has seven axes. Then, the robot 12 performs various multi-axis operations combining these seven axes based on the operation instructions from the control device 20. The operation instruction from the control device 20 is specifically notified as a drive instruction for each of the actuators described above.
  Note that the distal end portion of the first arm portion 121 is a terminal movable portion of the robot 12, and a hand 120 described later is attached to the terminal movable portion. Next, the hand 120 will be described with reference to FIG. 4B. FIG. 4B is a perspective view showing the configuration of the hand. For ease of explanation, FIG. 4B illustrates an example in which the hand 120 is positioned in parallel with the T axis as the Z axis and the drive shaft 120b as the Y axis.
  As shown in FIG. 4B, the hand 120 includes a drive unit 120a, a drive shaft 120b, a guide shaft 120c, a bracket 120d, and a gripping unit 120e. The drive unit 120 a is attached to the tip of the first arm unit 121. Each of the drive shafts 120b is a pair of shafts that are arranged symmetrically with respect to the T-axis with the axis centered in the Y-axis direction. The drive shaft 120b is advanced and retracted in the Y-axis direction by the drive unit 120a, and a bracket 120d is attached to each tip.
  Further, the guide shaft 120c is a pair of shafts provided so that the shaft center thereof coincides with the drive shaft 120b opposite to the guide shaft 120c and the T axis, and is slidable with the base end portion of the bracket 120d. Provided.
  The bracket 120d advances and retreats in the Y-axis direction while being guided by the guide shaft 120c in accordance with the operation of the drive shaft 120b. At the other end of the bracket 120d, a gripping portion 120e is provided so as to be able to grip the workpiece 40 (see FIG. 2) and the like as the bracket 120d advances and retreats in the Y-axis direction.
  A detection unit 50 is provided in the vicinity of the hand 120. The detection unit 50 is, for example, an imaging device having a predetermined imaging area, and images the workpiece 40 and the like installed in the rotation unit 13 (see FIG. 2).
  In the present embodiment, information on the workpiece 40 is acquired based on the imaging data of the detection unit 50. However, the detection device is not limited to the imaging device, and for example, a detection device such as an optical sensor may be used. Further, the place where the detection unit 50 is provided is not limited to the hand 120 but may be the inner wall of the cell 11 or the rotation unit 13, for example.
  Next, the configuration of the robot system 1 according to the embodiment will be described with reference to FIG. FIG. 5 is a block diagram of the robot system according to the embodiment. In FIG. 5, only components necessary for the description of the robot system 1 are shown, and descriptions of general components are omitted. In the description using FIG. 5, the internal configuration of the control device 20 will be mainly described, and the description of various devices already shown in FIG. 2 may be simplified.
  As shown in FIG. 5, the control device 20 includes a control unit 21 and a storage unit 22. The control unit 21 further includes an acquisition unit 211, a determination unit 212, and an instruction unit 213. The control unit 21 performs overall control of the control device 20. The acquisition unit 211 receives image data captured by the detection unit 50.
  The determination unit 212 determines the rotational position (phase) of the rotation shaft 422 (see FIG. 3) from the information acquired by the acquisition unit 211 and notifies the instruction unit 213 of the determination content. Note that such phase determination is performed based on the phase determination information 221. The phase determination information 221 is, for example, image information including the circumferential position of the groove 423 about the axis AXw (see FIG. 3), and is registered in the storage unit 22 in advance.
  The instruction unit 213 generates operation signals for operating various devices such as the robot 12 and the rotation unit 13 based on the notified information from the determination unit 212 and outputs the operation signals to the various devices. For example, the instruction unit 213 stops the operation of the rotation unit 13 rotating the rotation shaft 422 based on the information from the determination unit 212.
  Further, the instruction unit 213 changes the posture of the workpiece 40 by causing the robot 12-1 and the robot 12-2 to simultaneously hold the workpiece 40 (see FIG. 3) and further operating in cooperation. Then, the work 40 is set on the rotating unit 13 by at least one robot 12. Details of this point will be described later with reference to FIGS. 6A to 6D.
  The storage unit 22 is a storage device such as a hard disk drive or a nonvolatile memory, and stores phase determination information 221. Since the contents of the phase determination information 221 have already been described, description thereof is omitted here.
  Moreover, each component shown inside the control apparatus 20 in FIG. 5 may not be arranged in the control apparatus 20 alone. For example, the phase determination information 221 stored in the storage unit 22 may be stored in the internal memory of the detection unit 50 to improve the throughput.
  Further, in the above description, an example in which the control device 20 determines the rotational position of the rotation shaft 422 based on the phase determination information 221 registered in advance is shown, but the control device 20 is connected to the control device 20 so as to be able to communicate with each other. Alternatively, necessary information may be acquired sequentially from the higher-level device.
  Next, an example of the posture change of the workpiece 40 by the robot 12 will be described with reference to FIGS. 6A to 6D. 6A to 6D are schematic diagrams (No. 1) to (No. 4) for explaining a series of operations for changing the posture of the workpiece of the robot.
  6A to 6D, when the robot 12-1 and the robot 12-2 hold the workpiece 40 or turn the workpiece 40 upside down, the posture of the workpiece 40 performed by the robot system 1 is changed. It is only an example of operation.
  Therefore, the robot system 1 may tilt the workpiece 40 in an arbitrary direction with respect to the robot 12-1 and the robot 12-2, or change the posture while moving. In this case, the operation of the robot 12 is not limited to the movement shown in FIGS. 6A to 6D, and is appropriately set according to the posture change of the workpiece 40. Further, the number of robots 12 is not limited to two, but may be any number of three or more.
  In the example shown in FIG. 6A, the rotating member 42 is conveyed from the pallet 30 (see FIG. 2) to the work table 14 by the robot 12-1, and is fixed by a jig (not shown) provided on the work table 14. The In this case, the rotating member 42 is fixed with the groove 423 (see FIG. 3) directed in the negative direction of the Z axis. The gear 41 is also transported from the pallet 30 by the robot 12-1.
  As shown in FIG. 6A, the robot 12-1 assembles the gear 41 to the rotation shaft 422 from the positive direction of the Z axis (arrow 604). The robot 12-1 grips the workpiece 40 and transports it from the work table 14 into a movable range where the work of the robot 12-2 can be performed as indicated by an arrow 605 while maintaining the direction of the rotation shaft 422.
  Next, as shown in FIG. 6B, the robot 12-2 grips the gear 41 and the rotating member 42 with, for example, a pinch (arrow 606), and the workpiece 40 is simultaneously attached to the robot 12-1 and the robot 12-2. Retained.
  Here, FIG. 6B shows an example in which the robot 12-2 grips with the gear 41 and the rotating member 42 interposed therebetween. However, the robot 12-1 and the robot 12-2 hold the workpiece 40 in this manner. Not limited.
  For example, the robot 12-2 may hold only the gear 41, or the workpiece 40 may be sandwiched between the robot 12-1 and the robot 12-2 with the respective hands 120 (see FIG. 4B) from the vertical direction at a predetermined interval. It is good also as holding. In this case, the robot 12-2 may place and hold the workpiece 40 on which the reversing work described later is completed, for example, on the hand 120-2.
  Subsequently, the robot 12-1 and the robot 12-2 work in the direction of the arrow 607, for example, to invert the workpiece 40 with respect to the Z-axis direction. In this case, as shown in FIG. 6C, the gear 41 faces the negative direction of the Z-axis, but does not fall from the workpiece 40 because it is supported by the robot 12-2.
  Then, as shown in FIG. 6D, the robot 12-1 releases the gripping operation of the workpiece 40 (arrow 608), and the robot 12-2 holds the workpiece 40 to the rotating unit 13 while maintaining the direction of the rotating shaft 422. Transport (arrow 609).
  As described above, the robot 12-1 and the robot 12-2 are held in a posture that sandwiches the member (gear 41, hereinafter simply referred to as “falling member”) and the rotating member 42 that fall when the posture of the workpiece 40 changes. . Accordingly, it is possible to avoid a situation in which such a member falls as the posture of the workpiece 40 changes.
  Furthermore, in the example shown in FIGS. 6A to 6D, the dropping member is the gear 41, but the dropping member may be a member other than the gear 41. For example, the dropping member may be a member such as a block placed in contact with the workpiece 40 on the work table 14. In this case, the robot 12-1 and the robot 12-2 simultaneously hold the workpiece 40 while maintaining such a positional relationship.
  In the example shown in FIGS. 6A to 6D, the robot 12 performs the work 40 inversion work. For this reason, the assembling work of the gear 41 and the work of detecting the phase of the rotating shaft 422 (described later using FIG. 7) can be performed from above.
  Furthermore, the robot system 1 according to the present embodiment is not limited to the reversing work shown in FIGS. 6A to 6D, and can change the posture of the workpiece 40 in any direction. For this reason, even with respect to the workpiece 40 including the dropping member, the work target portion can be directed upward without dropping the member. Therefore, the work 40 can always be worked from above, and the work can be facilitated.
  Next, phase alignment of the rotating shaft 422 will be described with reference to FIG. FIG. 7 is a schematic diagram for explaining phase alignment of the work of the rotating unit. First, the rotating unit 13 will be described. The rotating unit 13 includes a holding unit 131 and a power unit 132.
  The holding unit 131 holds the workpiece 40 with a predetermined space in the vertical direction of the workpiece 40. Thereby, when the robot 12 (see FIG. 2) installs the workpiece 40 on the holding unit 131, a situation in which the hand 120 (see FIG. 4B) interferes with the holding unit 131 can be avoided.
  In addition, although FIG. 7 demonstrated as an example the case where the workpiece | work 40 was mounted (locked) and hold | maintained at the holding | maintenance part 131, the form of the holding | maintenance part 131 is not restricted to this. For example, the holding unit 131 may hold the workpiece 40 by holding the body 421 from both sides of the axis AXw in the radial direction or from both sides in the vertical direction.
  The power unit 132 includes a power source 132a, a power shaft 132b, and a gear unit 132c. In FIG. 7, an axis connecting the shaft centers of the power shafts 132b is shown as an axis AXm. The power source 132a is a power source such as a motor, and rotates the power shaft 132b about the axis AXm. The power shaft 132 b is provided with a gear portion 132 c that meshes with the gear portion 411.
  The gear part 132c is installed at a position where the gear 40 engages with the gear part 411 while the work 40 is held by the holding part 131. As a result, even if the robot 12 releases the gripping operation after placing the workpiece 40 on the rotating unit 13, the gear 41 is supported by the gear unit 132 c and therefore does not fall off the rotating member 42.
  When the power shaft 132b rotates, for example, in the direction of an arrow 610 around the axis AXm, the gear portion 132c rotates the rotary shaft 422 in the direction of an arrow 611 around the axis AXw via the gear 41.
  The detection unit 50 images the workpiece 40 from the positive direction of the Z axis (arrow 612). The determination unit 212 (see FIG. 5) determines the phase of the rotation shaft 422 from the imaging data of the detection unit 50 based on the rotation position of the groove 423. That is, the determination unit 212 sends a signal to the instruction unit 213 (see FIG. 5) when the groove 423 reaches a predetermined phase P1.
  The instruction unit 213 stops the operation of the power unit 132 based on the signal. The predetermined phase P1 is used, for example, for processing the workpiece 40 or attaching another member or the like to the workpiece 40 by using the position of the groove 423 in the next step.
  As described above, according to the rotating unit 13 and the detecting unit 50, even for the workpiece 40 having a rotating part, the phase alignment can be performed easily and without performing complicated calculation processing for specifying the phase of the rotating part. Can be done accurately.
  Here, both ends of the rotating shaft 422 are exposed from the body 421, but the form of the rotating shaft 422 is not limited to this. For example, one end of the rotating shaft 422 exposed from the body 421 and the other end are provided separately, and these ends are connected by a gear mechanism or the like provided inside the body 421. You may make it do.
  In this case, one end portion may be rotated at a rotation speed different from that of the other end portion in conjunction with the rotation of the other end portion. If one end on the phase detection side rotates at a low rotation speed with respect to the other end where the gear 41 is assembled, precise phase alignment can be easily performed. . On the other hand, if one end on the phase detection side is rotated at a high rotational speed with respect to the other end where the gear 41 is assembled, phase alignment can be performed in a short time.
  Also, the one end and the other end may have different diameters and may not be arranged coaxially. Also in this case, the holding portion 131 holds the workpiece 40 with the groove portion 423 facing upward, but the gear portion 132c is appropriately arranged in accordance with the position of the gear portion 411.
  In addition, here, the phase is detected based on the rotational position of the groove 423, but the phase detection target is not limited to this, for example, a bolt hole or a positioning hole, or a predetermined shape or mark. There may be. Further, the processing and assembly to the workpiece 40 after the phase detection may be performed in a state where the workpiece 40 is installed on the rotating unit 13.
  Next, a processing procedure when the robot system 1 according to the embodiment detects the phase of the rotating shaft 422 will be described with reference to FIG. FIG. 8 is a flowchart showing a processing procedure executed by the robot system.
  As shown in FIG. 8, the first robot (robot 12-1) assembles the gear 41 from above the workpiece 40 to the rotating shaft 422 (step S101). The first robot conveys the workpiece 40 into the movable range of the second robot (robot 12-2) so that the dropping member does not fall while maintaining the posture of the workpiece 40 (step S102). The first robot and the second robot hold the workpiece 40 and the dropping member included in the workpiece 40 with the workpiece interposed therebetween (step S103).
  Subsequently, the work 40 is reversed by the first robot and the second robot operating in cooperation with each other (step S104). In this case, since the first robot and the second robot hold the workpiece 40 and the dropping member included in the workpiece 40, the dropping member does not fall from the workpiece 40. Then, the second robot conveys and installs the workpiece 40 to the rotating unit 13 so that the falling member does not fall while maintaining the posture of the workpiece 40 (step S105).
  Subsequently, the rotating unit 13 rotates the rotating shaft 422 (step S106). The detection unit 50 detects the phase of the rotating shaft 422 based on the position of the groove 423 from above the workpiece 40 (step S107). The determination unit 212 determines whether or not the rotation shaft 422 is in the predetermined phase P1 (step S108).
  When the rotating shaft 422 is in the predetermined phase P1 (step S108, Yes), the rotating unit 13 stops the rotation of the rotating shaft 422 (step S109). And the 2nd robot conveys the workpiece | work 40 to the working apparatus 15 (step S110), and complete | finishes a process. When the rotating shaft 422 is not in a predetermined phase (No at Step S108), the processes after Step S106 are repeated.
  As described above, the robot system according to one aspect of the embodiment performs the operation of changing the posture of the work while cooperating with each other with the plurality of robots each having a hand and the work being held by the hand. And a control device for instructing.
  As described above, the robot system according to the embodiment changes the posture of the workpiece by simultaneously holding the workpiece with a plurality of robots. This eliminates the need for a dedicated device for changing the posture of the workpiece, and enables efficient production of processed products and assemblies.
  In the above-described embodiment, a single-arm robot has been exemplified. However, the present invention is not limited to this, and a multi-arm robot having two or more arms may be used. In the above-described embodiment, a multi-axis robot having seven axes is illustrated, but the number of axes is not limited.
  In the above-described embodiment, the robot hand that holds and holds the object to be grasped is illustrated, but the present invention is not limited to this. For example, a robot hand including a plurality of gripping claws, a plurality of fingers having a large number of links, or a robot hand having no gripping mechanism may be used.
  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.
DESCRIPTION OF SYMBOLS 1 Robot system 11 Cell 12 Robot 13 Rotating part 14 Working table 15 Working device 16 Pallet table 20 Control device 30 Pallet 40 Work 41 Gear 42 Rotating member 50 Detector

Claims (6)

  1. A plurality of robots each having a hand;
    A control device for instructing the plurality of robots to move the workpiece upside down in cooperation with each other in a state in which the workpiece including the dropping member that is a member that falls when the posture is changed is held by the hand; equipped with a,
    The controller is
    Instructing the plurality of robots to hold the workpieces in a posture in which the dropping member is supported by at least one of the hands when the workpiece is turned upside down. Characteristic robot system.
  2. The workpiece is
    The robot system according to claim 1 , further comprising: a rotating member provided with a rotating shaft; and the dropping member that is fitted to the rotating shaft and drops from the rotating shaft when the posture is changed.
  3. A detecting unit for detecting a rotational position of the front Machinery rolling member,
    A rotating unit that rotates the rotating member;
    The controller is
    The hand is instructed by at least one of the robots supporting the dropping member by the hand to place the workpiece turned upside down on the rotating unit, and the rotating member is predetermined based on the detection result of the detecting unit. The robot system according to claim 2, wherein the rotating unit is instructed to rotate to a rotational position.
  4. The controller is
    Instructing the operation of turning the workpiece upside down after placing the dropping member on the workpiece from above by one robot.
    The detector is
    The robot system according to claim 3, wherein the rotational position of the rotating member is detected from above.
  5. The workpiece is
    The rotating member that exposes the first rotating shaft and the second rotating shaft that rotates in conjunction with the first rotating shaft in different directions, and the dropping member that is attached to the first rotating shaft. Including gears,
    The rotating part is
    The gear and through said first rotating shaft rotates the second rotary shaft,
    The detector is
    The robot system according to claim 3 or 4, wherein a rotation position of the second rotation shaft is detected.
  6. The second rotation axis is
    The robot system according to claim 5, wherein the robot system rotates at a rotation speed lower than that of the first rotation axis.
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JP6582492B2 (en) * 2015-03-31 2019-10-02 セイコーエプソン株式会社 Robot system
JP6470336B2 (en) 2017-03-27 2019-02-13 ファナック株式会社 Machine tool system and moving method
TW201940299A (en) * 2017-12-26 2019-10-16 日商索尼股份有限公司 Abnormal noise inspection device, abnormal noise inspection method, program, and workpiece manufacturing method
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JPH04101735A (en) * 1990-08-10 1992-04-03 Kawasaki Heavy Ind Ltd Assembly of robot body
JPH071259A (en) * 1993-06-14 1995-01-06 Daikin Ind Ltd Fitting-in device
JPH08216078A (en) * 1995-02-08 1996-08-27 Fuji Electric Co Ltd Handling device of assembling jig
JPH08215949A (en) * 1995-02-09 1996-08-27 Mazda Motor Corp Automatic part assembly device
JP4217125B2 (en) * 2003-07-30 2009-01-28 トヨタ自動車株式会社 Production system
JP4646943B2 (en) * 2004-07-13 2011-03-09 パナソニック株式会社 robot
JP4396427B2 (en) * 2004-07-14 2010-01-13 トヨタ自動車株式会社 Method for fitting shaft-shaped parts and apparatus for fitting shaft-shaped parts
JP5311005B2 (en) * 2008-07-11 2013-10-09 株式会社Ihi Robot hand
JP5360155B2 (en) * 2011-08-01 2013-12-04 株式会社安川電機 Robot system

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