JP6781912B2 - Articulated dual-arm robot device and production system using articulated dual-arm robot - Google Patents

Description

The present invention relates to an articulated dual-arm robot device and a production system using an articulated dual-arm robot.

Patent Document 1 discloses a production system and a production line using an articulated dual-arm robot.

In this production line, the dual-arm robot is placed between the work table and the multi-row supply conveyor on which the parts are mounted, picking up the parts transport tray at the tip of these supply conveyors and on the opposite side. The parts are placed in the tray storage area on the work table, and then the parts are sequentially transferred onto the parts delivery tool according to the program from the parts transfer tray on the tray table. Here, the articulated dual-arm robot is fixed in position at least during work.

Japanese Unexamined Patent Publication No. 2014-121742

An object of the present invention is to provide an articulated dual-arm robot (hereinafter referred to as a dual-arm robot) device that can be moved lightly and a production system using the dual-arm robot.

That is, the above problem can be solved by the following embodiment.

(1) A traveling trolley that runs parallel to the tip of the parts station on a traveling rail provided in front of the parts station, and an articulated dual-arm robot provided on the traveling trolley that can move in the vertical direction. This is an articulated dual-arm robot device having a parts tray for arranging parts taken out from the parts station by this articulated dual-arm robot and an assembly workbench for supporting the parts tray. A robot elevating device is provided on the traveling carriage, and the robot elevating device supports the assembly workbench so as to be movable in the vertical direction, and the articulated dual-arm robot is mounted on the assembly workbench in the vertical direction. An arm confirmation camera that is rotatably supported around the center of rotation and has an imaging field of the elbow of the articulated dual-arm robot is mounted on the assembly work table in front of or behind the articulated dual-arm robot. A pair of left and right parts trays are provided so as to be movable together with the articulated dual-arm robot while being supported by the assembly workbench .

(2) A traveling carriage that runs parallel to the tip of the parts station on a traveling rail provided in front of a plurality of parts stations in which parts are arranged, and many provided on the traveling carriage so as to be movable in the vertical direction. It accepts an articulated dual-arm robot, a component tray for arranging parts taken out from the component station by the articulated dual-arm robot, an assembly work table for supporting the component tray, and the mounted component tray. It is a production system by an articulated dual-arm robot having a mounted tray storage space, and all the parts are assembled and mounted in the parts tray by the articulated dual-arm robot. In the state, it is configured to be movable together with the articulated dual-arm robot to the mounted tray storage place, and the articulated dual-arm robot can rotate around the rotation center axis in the vertical direction on the assembly work table. A production system by an articulated dual-arm robot, which is supported and the assembly work table is arranged so as to be movable in the vertical direction on the traveling vehicle via a robot lifting device.

(3) The robot elevating device includes a meshing chain type advancing / retreating operating device, and the meshing chain type advancing / retreating operating device includes a pair of meshing chains that transmit power to the actuated body to move the actuated body up and down, and the pair. includes a housing portion for housing the engagement chain in a state where the wound, the interlocking chain in said housing portion, winding, and a driving portion for guiding vertically at unwinding to drive the unwinding direction, and The winding and unwinding shafts of the meshing chain are arranged so as to be parallel to the traveling direction of the articulated dual-arm robot, and the pair of meshing chains are expanded and contracted in the vertical direction to extend the actuated body. The production system by the articulated dual-arm robot according to (2), wherein the actuated body is configured to move up and down with respect to the storage portion, and the actuated body is coupled to the assembly work table from below. ..

( 4 ) When the assembly workbench is lifted and lowered by the robot lifting device, a vertical guide device including a telescopic telescopic pipe that guides the assembly work table in the vertical direction is provided , and the vertical guide device is the robot lifting device. The production system by an articulated dual-arm robot according to (3 ), which comprises a telescopic telescopic pipe containing a device .

( 5 ) The production system by an articulated dual-arm robot according to ( 4), wherein the telescopic telescopic pipe has a hollow square shape in a cross section orthogonal to the telescopic direction.

( 6 ) A traveling vehicle control unit that includes at least the traveling vehicle, the articulated dual-arm robot, and the robot lifting device, and at least controls the traveling vehicle, and a dual-arm robot control unit that controls the articulated dual-arm robot. The production system by the articulated dual-arm robot according to any one of (2) to ( 5 ), wherein a control device including a lifting device control unit for controlling the robot lifting device is provided.

(7) in the assembly work bench, with the articulated double-arm robot arsenide di watching arms view camera to the imaging field of view from the front or the back of the articulated double-arm robot provided pair, wherein The production system using an articulated dual-arm robot according to ( 6 ), wherein the control device is provided with an arm confirmation camera control unit that controls the arm confirmation camera.

In the present invention, the dual-arm robot can be moved lightly by providing the robot elevating device on the traveling carriage and rotatably supporting the dual-arm robot on the assembly work table around the rotation center axis in the vertical direction. It is possible to improve work efficiency.

A perspective view schematically showing a production system using a dual-arm robot according to an embodiment of the present invention. A cross-sectional view schematically showing a cross section along the line II-II of FIG. The same cross-sectional view as in FIG. 2, which schematically shows a state in which the robot elevating device is contracted and the dual-arm robot is lowered from the states of FIGS. 1 and 2. Side view of the dual-arm robot device as seen from the right side of the robot Schematic enlarged cross-sectional view along the VV line of FIG. 2 showing a telescopic telescopic pipe in a robot lifting device. Block diagram showing the control device in the same embodiment Flowchart showing the process of work according to the same embodiment Process diagram showing the same work for each process by schematic plan view and side view

Hereinafter, examples of the present invention will be described in detail with reference to the drawings.

As shown in FIG. 1, the dual-arm robot production system (hereinafter, production system) 10 according to the embodiment of the present invention has a plurality of component stations 12 (12A, 12B, 12C, 12D, 12E, 12F) in which components are arranged. A traveling rail 14 provided in front of the parts station 12 when the entire six rows of parts stations are shown below, and a traveling carriage 22 traveling on the traveling rail 14 in parallel with the tip of the parts station 12. A dual-arm robot device (hereinafter referred to as a dual-arm robot device) 20 including a dual-arm robot 40 is provided on the traveling carriage 22 and is configured.

As shown in FIGS. 2 to 4, a robot elevating device 30 is provided on the traveling carriage 22, and the assembling work table 50 is supported by the robot elevating device 30 so as to be able to move up and down. A vertical rotation center axis 41 is provided, and the dual-arm robot 40 is rotatably supported around the axis by the rotation center axis 41 in the vertical direction.

On the assembly work table 50, a pair of arm confirmation cameras 52 capable of photographing the elbow 42A in the arm portion 42 of the dual arm robot 40 are provided on the left and right sides when viewed from the front or the back of the dual arm robot 40. There is.

Further, on the assembly workbench 50, a space 50A for mounting the component tray 60 is provided on the upper surface on the side opposite to the arm confirmation camera 52 and near the component station 12.

A parts confirmation camera 51 is provided on the tip end side of the arm portion 42 of the dual-arm robot 40.

Next, the details of the robot elevating device 30 will be described.

As shown in FIGS. 2 and 3, the robot lifting device 30 is composed of a meshing chain type advancing / retreating operating device 32. The meshing chain type advance / retreat actuating device 32 has a pair of meshing chains 32B that transmit power to the actuated body 32A to raise and lower the actuated body 32A, and a storage portion 32C that stores the pair of meshing chains 32B in a wound state. The meshing chain 32B in the storage portion 32C is wound up, driven in the unwinding direction, and guided in the vertical direction at the time of unwinding, and the pair of meshing chains 32B is provided. A pair of winding and unwinding shafts 32E for driving the meshing chain 32B, which are configured to expand and contract in the vertical direction to move the actuated body 32A up and down with respect to the storage portion 32C, are the dual-arm robot 40. It is arranged so as to be parallel to the traveling direction of (the motor for driving the winding and winding shaft 32E is not shown). The actuated body 32A is integrally connected to the assembly workbench 50 on the lower side via a tubular body 34D (described later).

FIG. 2 shows a state in which the actuated body 32A is raised, and FIG. 3 shows a state in which the actuated body 32A is lowered.

The robot lifting device 30 includes the above-mentioned pair of meshing chains 32B and a telescopic telescopic pipe 34 that includes and covers the actuated body 32A that is lifted and lowered by the pair of meshing chains 32B.

As shown in FIG. 5, the telescopic telescopic pipe 34 is composed of four cylinders 34A, 34B, 34C, and 34D having a quadrangular cross section of different sizes, and has the maximum diameter of the telescopic telescopic pipe 34. The lower end of the tubular body 34A is connected to the upper surface of the traveling carriage 22, and the upper end of the tubular body 34D having the smallest diameter is integrally fixed to the back surface (lower side surface) of the assembly work table 50.

The telescopic telescopic pipe 34 is in the most shortened state as shown in FIG. 3 when the assembly workbench 50 is most lowered, and is as shown in FIG. 2 when the assembly workbench 50 is most raised. In addition, it is designed to be in the fully extended state.

Further, the telescopic type telescopic pipe 34 is a rotation center shaft 41 provided coaxially.

The production system 10 according to this embodiment has a control device 70 as shown in FIG. 6, a traveling carriage 22, a dual-arm robot device 20 including a robot elevating device 30, parts stations 12A to 12F, and an empty space. The tray storage area 16 and the mounted tray storage area 18 are controlled.

The control device 70 includes a traveling trolley control unit 71 for controlling the traveling trolley 22, a dual-arm robot control unit 72 for controlling the dual-arm robot 40, and an elevating device control unit for controlling the robot elevating device 30. 73, the parts confirmation camera control unit 74 for controlling the parts confirmation camera 51, the arm confirmation camera control unit 75 for controlling the arm confirmation camera 52, and the parts stations 12A to 12F. The component station control unit 76, the empty tray storage area control unit 77 for controlling the empty tray storage area 16, and the mounted tray storage area control unit 78 for controlling the mounted tray storage area 18 are provided. ..

Reference numeral 80 in FIG. 6 indicates a setting device for inputting and setting a program in the control device 70.

Further, with reference to FIGS. 7 and 8, the parts taken out from the parts stations 12A to 12F of the dual-arm robot 40 are arranged (mounted) on the parts tray 60 on the assembly work table 50 according to the program by the production system 10. The work of placing this in the mounted tray storage area 18 and then taking out the empty component tray 60 prepared in the empty tray storage area 16 will be described.

In step S101 of FIG. 7, the dual-arm robot 40 is moved to the empty tray storage area 16 and the mounted tray storage area 18. In the next step S102, the dual-arm robot 40 is adjusted to a height at which the empty component tray 60 can be pulled out (see FIG. 8 (1)).

In the next step S103, the empty parts tray 60 is pulled out by the dual-arm robot 40 and placed on the assembly workbench 50 (see FIG. 8 (2)).

Proceeding to step S104, as shown in FIG. 8 (3), the dual-arm robot 40 is moved in front of the component station 12A, and in step S105, the dual arm robot 40 is confirmed by the component confirmation camera 51 while checking the height of the component. The arm robot 40 is raised and lowered.

In the next step S106, in front of the parts station 12A, the parts are picked up by the dual-arm robot 40 while checking the presence / absence and position of the parts by the parts confirmation camera 51.

In step S107, the parts confirmation camera 51 confirms that the picked-up parts are correct, and if there are no mistakes (Yes), the process proceeds to the next step S108.

If there is an error, the process returns to (No) step S106.

As shown in FIGS. 8 (4) to 8 (8), in the next step S108, the above steps S104 to S107 are repeated for each of the component stations 12B to 12F.

In step S109, as shown in FIG. 8 (9), the mounted parts tray 60 in which all the parts are incorporated is moved to the mounted tray storage area 18 together with the dual-arm robot 40, and in step S110, the twins are doubled. The arm robot 40 is moved up and down to a height at which the mounted component tray 60 can be carried out.

The process proceeds to step S111, and as shown in FIG. 8 (10), the mounted parts tray 60 on the assembly workbench 50 is pushed out and carried out by the dual-arm robot 40.

From here, the dual-arm robot 40 takes out the empty parts tray 60 from the empty tray storage area 16 and puts it on the assembly workbench 50 in order to mount the parts in the next step, and repeats steps S103 to S111 as described above.

In this embodiment, the dual-arm robot 40 is attached to the assembly workbench 50 provided with the mounting space 50A on which the parts tray 60 is placed, and even if the assembly workbench 50 vibrates, the robots are twined. Since the relative displacement with the arm robot 40 does not occur, accurate positioning can be performed when the parts are placed on the parts tray 60.

Further, although the meshing chain type advancing / retreating actuating device 32 is lighter than an air cylinder or an electric cylinder, the meshing chain 32B is particularly heavy because of the backlash between the chain elements constituting the meshing chain 32B. At the position where the actuated body 32A is most raised, the actuated body 32A tends to swing in the thickness direction of the meshing chain 32B.

On the other hand, in this embodiment, the actuated body 32A at the upper end of the meshing chain type advancing / retreating actuating device 32 is connected to the bottom surface of the tubular body 34D at the uppermost end of the telescopic telescopic pipe 34, so that the actuated body is connected. Vibration of 32A is suppressed by being guided in the vertical direction by the telescopic type telescopic pipe 34.

Further, in the present embodiment, since the direction of the winding and unwinding shaft 32E of the meshing chain 32B is parallel to the traveling direction of the traveling carriage 22, it is easy to vibrate when the traveling carriage 22 is traveling, but the dual-arm robot 40 When the work is performed, the traveling carriage 22 is stopped, and the dual-arm robot 40 takes out the parts from the parts station 12 and arranges them on the parts tray 60 in a direction that easily affects the positioning accuracy and the meshing chain. Since the direction of the formula advancing / retreating actuating device 32 that is least likely to vibrate is matched, the positioning accuracy for taking out the parts by the dual-arm robot 40 can be accurately maintained.

However, if it is less likely to vibrate than the meshing chain type advancing / retreating actuating device 32, the direction of the winding / unwinding shaft 32E of the meshing chain 32B can be made parallel to the traveling direction of the traveling carriage 22.

In addition, the elbow 42A of the arm 42, which is most likely to come into contact with a nearby object or person by the dual-arm robot 40, can be photographed by the arm confirmation camera 52, so that the arm can be photographed with surrounding objects and workers. Contact can be suppressed.

In the above embodiment, the telescopic type telescopic pipe 34 that serves as a guide in the vertical direction of the assembly workbench 50 is one, and is arranged so as to surround the meshing chain type advancing / retreating operation device 32. The present invention is not limited to this, and one or more may be provided at an outer position thereof without surrounding the meshing chain type advancing / retreating actuating device 32. Further, although the telescopic type telescopic pipe 34 has a four-sided cross section, it may have a circular cross section.

However, in the case of the above embodiment, since the assembly workbench 50 can be guided in the vertical direction by one telescopic type telescopic pipe 34, the total weight and the manufacturing cost can be reduced. Further, when the telescopic type telescopic pipe 34 has a four-sided cross section, the shake of the arm portion 42 can be further suppressed by receiving the reaction force when the dual arm robot 40 rotates around the rotation center axis 41.

It can be used in industries that perform assembly work using dual-arm robots.

10 ... Production system using articulated dual-arm robot (production system)
12, 12A, 12B, 12C, 12D, 12E, 12F ... Parts station 14 ... Travel rail 16 ... Empty tray storage 18 ... Mounted tray storage 20 ... Articulated dual-arm robot device (double-arm robot device)
22 ... Traveling carriage 30 ... Robot lifting device 32 ... Meshing chain type advancing / retreating operating device 32A ... Actuated body 32B ... Meshing chain 32C ... Storage unit 32D ... Drive unit 32E ... Winding and unwinding shaft 34 ... Telescopic type telescopic pipe 34A, 34B, 34C, 34D ... Cylinder 40 ... Articulated dual-arm robot (double-arm robot)
41 ... Rotation center axis 42 ... Arm 42A ... Elbow 50 ... Assembly workbench 50A ... Mounting space 51 ... Parts confirmation camera 52 ... Arm confirmation camera 60 ... Parts tray 70 ... Control device 71 ... Travel trolley control unit 72 ... Double-arm robot control unit 73 ... Lifting device control unit 74 ... Camera control unit for parts confirmation 75 ... Camera control unit for arm confirmation 76 ... Parts station control unit 77 ... Empty tray storage area control unit 78 ... Mounted tray storage area control unit 80 … Setting device

Claims (7)

A traveling trolley that runs parallel to the tip of the parts station on a traveling rail provided in front of the parts station, and an articulated dual-arm robot that is movably provided in the vertical direction on the traveling trolley. An articulated double-arm robot device comprising a parts tray for arranging parts taken out from the parts station by an articulated double-arm robot and an assembly workbench for supporting the parts tray.
A robot elevating device is provided on the traveling carriage, and the assembling workbench is supported so as to be movable in the vertical direction by the robot elevating device, and the articulated dual-arm robot is mounted on the assembling workbench in the vertical rotation center. An arm confirmation camera that is rotatably supported around the axis and has the elbow of the articulated dual-arm robot as an imaging field is viewed from the front or the back of the articulated dual-arm robot on the assembly work table. Left and right pair,
The articulated dual-arm robot device is characterized in that the component tray is configured to be movable together with the articulated dual-arm robot while being supported by the assembly workbench . A traveling carriage that runs parallel to the tip of the parts station on a traveling rail provided in front of a plurality of parts stations in which parts are arranged, and an articulated double that is provided on the traveling carriage so as to be movable in the vertical direction. An arm robot, a parts tray for arranging parts taken out from the parts station by this articulated dual-arm robot, an assembly work table for supporting the parts tray, and a mounted tray for receiving the mounted parts tray. It is a production system by an articulated double-armed robot that has a storage space .
The parts tray is configured to be movable together with the articulated dual-arm robot to the mounted tray storage area in a state where all the parts are assembled and mounted by the articulated dual-arm robot.
The articulated dual-arm robot is rotatably supported on the assembly work table around the rotation center axis in the vertical direction, and the assembly work table moves up and down on the traveling carriage via a robot elevating device. A production system using an articulated double-armed robot that is characterized by being arranged so that it can move in any direction. In claim 2,
The robot lifting device includes a meshing chain type advancing / retreating device.
This meshing chain type advance / retreat actuating device includes a pair of meshing chains that transmit power to the actuated body to raise and lower the actuated body, a storage unit that stores the pair of meshing chains in a wound state, and the inside of the storage unit. The meshing chain is driven in the winding and unwinding directions and has a driving unit that guides the meshing chain in the vertical direction at the time of unwinding , and the winding and unwinding shaft of the meshing chain is the articulated twin arm. The robot is arranged so as to be parallel to the traveling direction of the robot, and is configured to expand and contract the pair of meshing chains in the vertical direction to raise and lower the actuated body with respect to the storage portion. , A production system using an articulated dual-arm robot, characterized in that it is connected to the assembly workbench from below. Oite to claim 3,
When the assembly workbench is lifted and lowered by the robot lifting device, a vertical guide device including a telescopic telescopic pipe that guides the assembly work table in the vertical direction is provided , and the vertical guide device includes the robot lifting device. A production system using an articulated dual-arm robot, which is characterized by consisting of a telescopic telescopic pipe . In claim 4 ,
The telescopic telescopic pipe is a production system by an articulated dual-arm robot characterized in that it has a hollow square shape in a cross section orthogonal to the telescopic direction. In any of claims 2 to 5 ,
A traveling trolley control unit that includes at least the traveling trolley, the articulated dual-arm robot, and the robot elevating device and controls the traveling trolley, a dual-arm robot control unit that controls the articulated dual-arm robot, and the robot. A production system using an articulated dual-arm robot, characterized in that a control device equipped with a lifting device control unit for controlling the lifting device is provided. In claim 6 ,
On the assembly working table, together with the multi-arsenide di articulated double-arm robot watches arms view camera to the imaging field of view from the front or the back of the articulated double-arm robot provided pair, to the control device , A production system using an articulated dual-arm robot, characterized in that an arm confirmation camera control unit for controlling the arm confirmation camera is provided.

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