JP7376916B2 - Work supply/removal system, portable robot device, and portable work stocker - Google Patents

Description

The present invention relates to a workpiece supply/removal system, a portable robot device, and a portable workpiece stocker.

In recent years, in order to improve work efficiency, it has become common to install a robot on a work device (such as a machine tool) and have the robot feed and remove workpieces. However, such equipment is not efficient because it is large and expensive, requires a large installation space, and the robot is also stopped while the work equipment is not working. It cannot be said that it is a suitable device. Therefore, a portable robot device has been developed that carries a robot on a cart and transports the robot to the vicinity of a working device to feed and remove material from the workpiece. However, in the case of a portable robot device, it is necessary to strictly manage the relative positions of the stationary work device and the portable robot device.

One example of such a portable robot device is to place a mark (sometimes called a target mark) on the front wall of a machine tool, which is a working device, and place a mark on the cart of the portable robot device that is transferred and installed near the machine tool. There are devices that image a target mark with an onboard visual sensor, process the image of the captured target mark as information of the other party, and compare it with reference image information to set the position of the portable robot device at a predetermined position (for example, , see Patent Document 1).

In addition, the target mark set on the machine tool is imaged by the visual sensor of the robot device mounted on the traveling trolley, and the images are captured when the portable robot device is installed at the reference position and when it is not installed at the reference position. There is a portable robot device that corrects the operating position of the robot device based on the amount of deviation between the two, and then starts the operation (for example, see Patent Document 2).

Unexamined Japanese Patent Publication No. 2018-126800 JP 2019-93533 Publication

However, in the portable robot device of Patent Document 1, in order to strictly manage the relative position of the portable robot device with respect to the machine tool, the central part of the diagram accepted as partner information and the target mark in the processed image are The operator must move the cart while finely adjusting the position of the robot device so that the robot device is aligned with the center portion, which cannot be said to be efficient. In addition, since the device operates by exchanging information between the machine tool and the portable robot device, it must be equipped with a communication device and a control system related to communication, and existing machine tools must be equipped with some type of control system. There is a problem in that this portable robot device cannot be applied without modification.

In the robot device of Patent Document 2, it is possible to feed a workpiece without strictly specifying the relative position of the portable robot device with respect to the machine tool. However, if the portable robot device is installed outside the range of the predetermined position, there is a problem in that the portable robot device must be moved until the target mark is within the field of view of the visual sensor.

Further, the portable robot devices of Patent Documents 1 and 2 take measures regarding relative position management between a machine tool, which is a work device, and a robot device. However, for example, when the work stocker for supplying workpieces is of a portable type, no consideration is given to the relative position of the work stocker and the portable robot device.

The present invention has been made to solve at least one of these problems, and it is possible to determine the relative position of the portable robot device and the portable work stocker without modifying the existing work device. And, a work supply/removal material that can supply and remove workpieces to and from the work device without strictly specifying the relative position between the work device and the portable robot device. The present invention aims to realize a system, a portable robot device, and a portable work stocker.

[1] The workpiece supply/removal material system of the present invention is a workpiece supply/removal material system in which workpiece material is supplied and removed between a portable workpiece stocker and a working device by a portable robot device, wherein The robot device includes a manipulator mounted on a portable trolley, a visual sensor attached to the manipulator, and a control means for controlling the manipulator and the visual sensor, and includes: (1) a first enclosing frame provided on a floor surface; With the portable robot device placed somewhere inside the mark, the image data of the first target mark placed on the work device detected by the visual sensor and the image data stored in the control means The reference image data of the first target mark is compared with the reference image data, and the relative positional deviation amount between the working device and the portable robot device is calculated, and the reference posture of the manipulator is preset based on the positional deviation amount. An offset is applied to the data and reference motion position data, and these are used as the posture data and motion position data referred to by the motion program. In a state where the portable work stocker is placed, image data of a second target mark placed on the work stocker detected by the visual sensor and reference image data of the second target mark stored in the control means. calculate a relative positional deviation amount between the work stocker and the portable robot device, and apply an offset to the reference posture data and the reference operation position data set in advance based on the positional deviation amount. , this is the posture data and operation position data referred to by the operation program, and (3) an image of a third target mark placed on a work pallet housed in the portable work stocker detected by the visual sensor. The data is compared with reference image data of the third target mark stored in the control means, and a relative positional deviation amount between the work pallet and the portable robot device is calculated, and the positional deviation amount is calculated. An offset is applied to the reference posture data and the reference motion position data set in advance based on the above, and these are used as posture data and motion position data referred to by the motion program, and (4) the manipulator is configured to use the corrected manipulator The workpiece is picked up from the portable workpiece stocker based on posture data and operation position data, and the workpiece is fed to or removed from the working device.

[2] In the work supply and removal material system of the present invention, the portable robot device is arranged inside the first enclosing frame mark, the portable work stocker is arranged inside the second enclosing frame mark, In the initial setting of the manipulator, the reference image data and the reference operation position data related to the working device drive the manipulator by manual operation, and the visual sensor is in a state where it can detect the first target mark. The image data of the first target mark and the operating position data of the manipulator in that state are taken in at the time, and the reference image data and the reference operating position data regarding the portable workpiece stocker are the image data of the first target mark and the operating position data of the manipulator in that state. image data of the second target mark captured when the visual sensor is in a state where the second target mark can be detected, and operation position data of the manipulator in that state, which are related to the work pallet. The reference image data and the reference operation position data are image data of the third target mark captured when the manipulator is driven by manual operation and the visual sensor is in a state where the third target mark can be detected. and operation position data of the manipulator in that state.

[3] In the workpiece supply/removal material system of the present invention, the portable workpiece stocker has a housing and a workpiece pallet arranged inside the housing, and a workpiece mounting surface of the workpiece pallet has a predetermined surface. Preferably, the workpiece is placed at a position, and the third target mark is arranged at a position on the workpiece placement surface that can be detected by the visual sensor.

[4] In the work supply/removal material system of the present invention, the manipulator can horizontally pull out or push back the work pallets arranged in multiple stages from the housing one stage at a time, Preferably, the third target mark is located at a position where the visual sensor can detect the third target mark when the work pallet is pulled out from the housing.

[5] In the work supply/removal material system of the present invention, the portable robot device includes information means for recognizing situation information of the work device, and the control device controls the work device and the work device based on the situation information. Preferably, the movement of the manipulator relative to the work stocker is controlled.

[6] The portable robot device of the present invention is a portable robot device that constitutes the workpiece supply/removal system according to any one of [1] to [5] above and is responsible for supplying and removing workpieces. a portable trolley having wheels at the bottom, the manipulator mounted on the portable trolley, a visual sensor attached to either of the manipulators, and the control means for controlling the manipulator and the visual sensor; The visual sensor detects and captures the first target mark, the second target mark, and the third target mark and compares each image data corresponding to the target mark with each of the reference image data. , calculates the amount of relative positional deviation between the work device and the portable work stocker, corrects each of the reference posture data and each of the reference operation position data set in advance based on the amount of positional deviation; It is characterized by driving a manipulator.

[7] In the portable robot device of the present invention, the portable cart includes an outrigger that fixes the position and posture of the portable cart at a stationary position, and the outrigger An outrigger arm that can be rotated from the trolley to arbitrary positions in a plurality of directions along the floor surface, and an outrigger arm that is screwed to the tip of the outrigger arm and is at a height position where it contacts the floor surface or a height position where it is spaced apart from the floor surface. Preferably, it has an adjustable outrigger post.

[8] The work stocker of the present invention is a portable work stocker that constitutes the work supply system according to any one of [1] to [5] above and is responsible for transporting the work, and has wheels at the bottom. The work pallets on which the works are placed are arranged in a plurality of stages inside the housing, and the work pallets can be pulled out and pushed back from the housing in a horizontal direction for each stage. , the housing is provided with the second target mark, the workpiece placement surface of the workpiece pallet is provided with the third target mark, and the portable workpiece stocker is placed inside the second enclosing frame mark. When arranged, the second target mark and the third target mark are arranged at positions that can be detected by the visual sensor of the portable robot device installed inside the first surrounding frame mark. It is characterized by having been.

According to the present invention, the relative positions of the portable robot device and the portable work stocker and the relative positions of the work device and the portable robot device can be precisely determined without modifying the existing work device. It is possible to realize a work supply/removal system, a portable robot device, and a portable work stocker that can supply and remove workpieces to and from a working device without specifying the specifications. Become.

1 is a perspective view showing the overall configuration of a workpiece supply/removal system 1. FIG. FIG. 2 is an explanatory diagram illustrating the concept of the installation position of the portable robot device 2 with respect to the first enclosing frame mark 6 and the installation position of the portable work stocker 3 with respect to the second enclosing frame mark 7. FIG. 2 is an explanatory diagram showing the structure and function of an outrigger 24. FIG. 3 is a perspective view showing a situation in which a visual sensor 36 detects a first target mark 10. FIG. 5 is a perspective view showing a situation in which the visual sensor 36 detects the second target mark 54. FIG. 5 is a perspective view showing a situation in which the manipulator 23 pulls out the work pallet 58 from the housing 50. FIG. FIG. 7 is a perspective view showing a situation in which the visual sensor 36 detects a third target mark 55; FIG. 3 is a perspective view showing a situation where the manipulator 23 picks up the workpiece W. FIG. 3 is a partial front view showing a situation where the manipulator 23 picks up the workpiece W. FIG. It is a process flow diagram which shows the main process of the material supply and material removal method of the workpiece|work W.

Hereinafter, a workpiece removal/supply material system 1, a portable robot device 2, and a portable workpiece stocker 3 according to embodiments of the present invention will be described with reference to FIGS. 1 to 10. Note that each of the drawings described below is a schematic diagram that does not strictly reflect the actual structure, dimensions, vertical and horizontal scales, etc.

[Configuration of work supply/removal material system 1]
FIG. 1 is a perspective view showing the overall configuration of a workpiece supply/removal system 1. As shown in FIG. The workpiece supply/removal system 1 includes a portable workpiece stocker 3 that can transport a workpiece W near a portable robot device 2, and a workpiece that picks up the workpiece W mounted on the portable workpiece stocker 3 and uses it as a working device. 4 and a portable robot device 2 that transports the material to a predetermined position of the working device 4.

When the workpiece removal/supply material system 1 is in operation, the portable robot device 2 is arranged inside the first enclosing frame mark 6 arranged on the floor surface 5. Similarly, the portable work stocker 3 is arranged inside the second enclosing frame mark 7 arranged on the floor surface 5. Note that the placement position of the portable robot device 2 does not need to be strictly defined as long as it is within the area inside the first enclosing frame mark 6. On the other hand, even in the case of a portable work stocker, the placement position does not have to be strictly defined as long as it is within the area inside the second enclosing frame mark 7. Both the first enclosing frame mark 6 and the second enclosing frame mark 7 can be easily placed by pasting a conspicuously colored tape, commonly known as "tiger tape", on the floor surface 5. The positional relationship between the first enclosing frame mark 6 and the second enclosing frame mark 7, and the portable robot device 2 and portable work stocker 3 will be described later with reference to FIG. 2.

The working device 4 is, for example, a machine tool that machine the workpiece W, a processing device that performs some kind of processing on the surface of the workpiece W, an assembly device, an inspection device, etc., but is not particularly limited to these. A processing device for performing the above-mentioned work is housed in the main body 8 of the working device 4, and a first target mark 10 is arranged on a wall surface 9 facing the portable robot device 2. An operation panel 11 and a display panel 12 are arranged on the wall surface 9. The operation panel 11 is provided with a keyboard for performing operations related to the operation of the working device 4, an ON/OFF switch, a lamp for notifying the operating status, and the like. The display panel 12 displays various data input from the operation panel 11 and numbers, tables, graphs, etc. representing the operating status of the work device 4 and the like.

Further, an opening/closing door 13 is provided on the wall surface 9 of the work device 4 on the side of the portable robot device 2 . The opening/closing door 13 is opened when feeding or removing the workpiece W, and is closed when the workpiece W is processed or processed. A handle 14 for opening and closing the door 13 is attached to the door 13. The working device 4 may be set so that it can stop working, such as processing, when the opening/closing door 13 is open, and can start working when the door 13 is closed.

[Configuration of portable robot device 2]
Next, the configuration of the portable robot device 2 will be explained with reference to FIG. 1. The portable robot device 2 mainly includes a portable trolley 21 having wheels 20 at the bottom thereof, and a manipulator 23 to which a base portion 22 is fixed to the portable trolley 21. An outrigger 24 for stably maintaining the stationary position of the portable robot device 2 is attached to the portable trolley 21. The structure and operation of the outrigger 24 will be described later with reference to FIG. 3. A handle 25 is attached to the top of the portable cart 21 for use by an operator to transport the portable robot device 2. The portable robot device 2 configured in this way can be freely transported on the floor 5 with the outriggers 24 closed, and by rotating the outriggers 24, the stationary position of the portable robot device 2 can be changed. And it is possible to maintain posture.

Note that the manipulator 23, which is a robot body to be described below, is an example of a so-called vertical multi-joint robot that includes a plurality of arms and joints. The manipulator 23 has a first shaft 26 that rotates the entire manipulator 23 around a vertical axis, a second shaft 28 that swings the arm 27 back and forth with respect to the transfer direction of the portable robot device 2, and a second shaft 28 that swings the arm 29 up and down. A third axis 30 that rotates the wrist 31 disposed at the tip of the arm 29 up and down relative to the arm 29, a fifth axis 33 that rotates the wrist 31 relative to the arm 29, and a fifth axis 33 that rotates the wrist 31 relative to the arm 29. 31 and a sixth shaft 34 that rotates in a direction orthogonal to the fifth shaft 33. Each of the above-mentioned axes corresponds to a joint that swings or rotates each arm in a predetermined direction. However, the manipulator that can be used in the workpiece supply/removal system 1 is not limited to such a vertical articulated robot.

A grip part 35 for gripping the workpiece W is attached to the tip of the wrist 31. Although the grip portion 35 shown in FIG. 1 is a claw-like handle, it can also be configured with a suction chuck or the like. The gripping method and shape of the gripping section 35 can be arbitrarily selected depending on the form and material of the workpiece W. A visual sensor 36 is attached to the wrist 31 along the direction in which the sixth axis 34 extends. The first shaft 26, the second shaft 28, the third shaft 30, the fourth shaft 32, the fifth shaft 33, and the sixth shaft 34 each include a servo motor (not shown). The relative position of the visual sensor 36 and the grip part 35 is managed with high precision, and the position of the grip part 35 can be defined from the position of the visual sensor 36.

The visual sensor 36 is capable of detecting the first target mark 10, the second target mark 54, and the third target mark 55 as images with high precision. Specific examples include a CCD image sensor (CCD camera) and a CMOS image sensor (CMOS camera), but the sensor is not particularly limited to these. A controller 37 is disposed below the manipulator 23 (inside the portable trolley 21) as a control means that controls the manipulator 23 in general, including the operation of the manipulator 23 and the detection operation of the visual sensor 36. Next, the concept of the installation position of the portable robot device 2 with respect to the one surrounding frame mark 6 will be explained with reference to FIG.

FIG. 2 is an explanatory diagram illustrating the concept of the installation position of the portable robot device 2 with respect to the first enclosing frame mark 6 and the installation position of the portable work stocker 3 with respect to the second enclosing frame mark 7. First, the concept of the installation position of the portable robot device 2 will be explained. Note that FIG. 2 shows an example in which the portable robot device 2 is installed in two positions, and the manipulator 23 is not shown. For convenience, one will be referred to as a portable trolley 21A, and the other will be referred to as a portable trolley 21B. The portable trolley 21A is inclined with respect to the wall surface 9 of the working device 4, and is arranged inside the inner contour line 6a of the first enclosing frame mark 6. The portable trolley 21B is an example of being disposed substantially parallel to the working device 4, and is similarly disposed inside the inner contour line 6a of the first enclosing frame mark 6.

FIG. 2 shows that if the portable trolley 20 is transported and placed somewhere inside the inner contour line 6a of the first enclosing frame mark 6, the visual sensor 36 can detect the first target mark 10. This indicates that the manipulator 23 can perform a material feeding operation and a material removal operation for the workpiece W to the working device 4. This will be discussed later with reference to FIG.

It is preferable that the planar dimensions of the portable trolley 21 be as small as possible to stably transport the portable robot device 2. By doing so, it becomes possible to transport the portable robot device 2 even in a narrow passage by closing the outrigger 24. Note that when installing and driving the portable robot device 2, the outriggers 24 are rotated and brought into contact with the floor surface 5.

3A and 3B are explanatory diagrams showing the structure and function of the outrigger 24, with FIG. 3A being a plan view and FIG. 3B showing the outrigger 24 in a rotated state. Two sets of outriggers 24 are disposed on two opposing wall surfaces of the portable trolley 21.

The outrigger 24 includes an outrigger arm 40 that can be rotated about a support shaft 39 from the portable cart 21 and an outrigger post 41 that can be adjusted to any height vertically from the tip of the outrigger arm 40 to the floor 5. There is. Although not shown, the outrigger post 41 is screwed onto the outrigger arm 40, and its height relative to the floor 5 can be adjusted by rotating the grip portion 43 at the upper end. A fixing nut 42 having a handle is screwed onto the outrigger post 41 to fix the height position of the outrigger post 41. Alternatively, although not shown in the drawings, the outrigger post 41 may be fixed laterally using a fixing screw at the threaded portion between the outrigger arm 40 and the outrigger post 41. When transporting the portable robot device 2, the outrigger arm 40 is closed on the wall side, as shown in FIGS. 1 and 3(a). When the portable robot device 2 is transferred to the inside of the first enclosing frame mark 6, the outrigger 24 is rotated along the floor surface 5 to an arbitrary position toward the outside of the portable trolley 21. FIG. 3A shows one state in which the outrigger 24 is rotated using a chain double-dashed line.

Since the outrigger arm 40 of the outrigger 24 can be rotated to any position in the plane, even if there is an obstacle on the floor 5 on which the portable robot device 2 is installed, the outrigger arm 40 can be rotated to a position that avoids the obstacle. Is possible. Furthermore, since the outrigger post 41 can be adjusted to any height, the posture of the portable robot device 2 can be stabilized on the floor 5 even if the floor 5 is sloped or there is a slight difference in level. It can be installed by Note that the outriggers 24 can be configured in two or three sets. Further, if brakes are provided on the wheels 20 and the installed position and posture of the portable robot device 2 can be maintained by its own weight, the outriggers 24 can be omitted. Note that the portable robot device 2 can feed and remove the workpiece W even if it is not installed strictly horizontally.

[Configuration of portable work stocker 3]
Next, the configuration of the portable work stocker 3 will be explained with reference to FIG. 1. The portable workpiece stocker 3 is responsible for transporting the workpieces W between a stock area, which is a storage location, and the portable robot device 2. The portable work stocker 3 mainly includes a housing 50 and a work pallet 51 disposed inside the housing 50. Wheels 52 are attached to the lower part of the housing 50. The work pallets 51 are arranged in a plurality of stages within the housing 50, and a handle 49 for pulling out and pushing back the work pallets 51 horizontally from the housing 50 one stage at a time is attached. However, only one stage of the work pallet 51 can be pulled out, and a braking means (not shown) is provided to maintain the position of the work pallet 51 that has been pulled out. When one work pallet 51 is pulled out, the work pallets 51 in other stages cannot be pulled out. A handle 53 for an operator to transport the portable work stocker 3 is attached to the upper side of the housing 50.

A second target mark 54 is arranged on the surface of the housing 50 facing the portable robot device 2. The portable work stocker 3 is installed in the area inside the second enclosing frame mark 7 arranged on the floor surface 5. The second enclosing frame mark 7, like the first enclosing frame mark 6, can be easily placed by attaching a conspicuously colored tape, commonly known as "tiger tape", to the floor surface 5. Further, a third target mark 55 is arranged on the surface of the work pallet 51 on which the work W is placed. The arrangement of the third target mark 55 will be described later with reference to FIGS. 6 and 7.

Next, the concept of the installation position of the portable work stocker 3 with respect to the second enclosing frame mark 7 will be explained with reference to FIG. Note that FIG. 2 shows an example in which the portable work stocker 3 is installed in two locations. For convenience, one is referred to as a portable work stocker 3A, and the other is referred to as a portable work stocker 3B. Note that FIG. 2 shows the outer shape of the housing 50 of the portable work stocker 3. The portable work stocker 3A is inclined with respect to the second enclosing frame mark 7 and is arranged inside the inner contour line 7a of the second enclosing frame mark 7. On the other hand, the portable work stocker 3B is similarly installed inside the inner contour line 7a of the second enclosing frame mark 7.

If the portable work stocker 3 is transported and installed inside the second enclosing frame mark 7, that is, within the area inside the inner contour line 7a, the visual sensor 36 can detect the second target mark 54, The workpiece W can be picked up from the workpiece pallet 51 by the manipulator 23.

[Standard image data, standard posture data, and standard motion position data]
First, acquisition of reference image data, reference posture data, and reference operation position data, which serve as references for data referenced by the operation program of the manipulator 23, will be described with reference to FIGS. 4, 5, and 7.

4 is a perspective view showing a situation in which the visual sensor 36 detects the first target mark 10, FIG. 5 is a perspective view showing a situation in which the visual sensor 36 detects the second target mark 54, and FIG. 2 is a perspective view showing a situation in which the visual sensor 36 detects the third target mark 55. FIG. In order to obtain each data serving as the above-mentioned standards, the coordinator of the workpiece removal/supply material system 1 first transports the portable robot device 2, installs it inside the first enclosing frame mark 6, and places it inside the portable workpiece stocker 3. is transferred and installed inside the second enclosing frame mark 7. Then, the manipulator 23 is manually moved to a position where the first target mark 10 is within the visual field 56 of the visual sensor 36. When the visual sensor 36 detects the first target mark 10, the image data of the first target mark 10 and the posture data and operation position data of the manipulator 23 at the time when this image data was captured are stored as "reference posture data" and "respectively. The data is taken into the controller 37 as "reference operation position data". Note that the image data captured at this time is the reference image data for the first target mark 10.

Next, as shown in FIG. 5, the adjuster manually moves the manipulator 23 to a position where the second target mark 54 falls within the visual field 56 of the visual sensor 36. When the visual sensor 36 detects the second target mark 54, the image data of the second target mark 54 and the posture data and operation position data of the manipulator 23 at the time of capturing this image data are captured into the controller 37. Note that the image data captured at this time is the reference image data for the second target mark 54, the posture data is the reference posture data, and the motion position data is the reference motion position data.

Next, as shown in FIG. 7, the manipulator 23 is manually moved to a position where the third target mark 55 is within the visual field 56 of the visual sensor 36. When the visual sensor 36 detects the third target mark 55, the image data of the third target mark 55 and the attitude data and operation position data of the manipulator 23 at the time of capturing this image data are captured into the controller 37. The image data captured at this time is the reference image data for the third target mark 55.

Note that the posture data is data corresponding to the posture of the manipulator 23 when the visual sensor 36 detects the first target mark 10, the second target mark 54, and the third target mark 55. This is a parameter that indicates what kind of correlation exists between joints and each arm. In addition, the operation position data refers to the gripping part for each position of the manipulator 23 (gripping part 35), such as the position where the workpiece W is picked up, the position where the material is fed to the working device 4 (including the position where the material is removed from the working device 4). This data corresponds to the motion locus of No. 35, and the position and motion locus at which the visual sensor 36 detects each of the target marks. In this way, a reference motion is defined based on each reference image data, reference posture data, and reference motion position data when each target mark is captured. If the operation program drives the manipulator 23 while referring to each of these reference data, the visual sensor 36 can move the first target mark 10, the second target mark 54, and the third target mark 55 to positions where they can be detected. It becomes possible.

[Correction of operation of manipulator 23]
If the portable robot device 2 is placed inside the first enclosing framework 6 and the portable work stocker 3 is placed inside the second enclosing framework 7, the visual sensor 36 detects the first target mark 10 and the second target. By detecting the mark 54 and the third target mark 55, it becomes possible to correct the posture data and operation position data from the image data and operate the manipulator 23. This will be explained with reference to FIGS. 4, 5, and 7.

A description will be given assuming that the portable robot device 2 is installed inside the first enclosing frame mark 6 at a position different from the reference image data acquisition position. First, as shown in FIG. 4, the manipulator 23 is driven by executing an operation program to move the visual sensor 36 to a position where the first target mark 10 can be detected. The relative positional relationship between the visual sensor 36 and the first target mark 10 at that time is different from that when the reference image data is captured. When the visual sensor 36 detects the first target mark 10, the controller 37 takes in image data of the first target mark 10 based on this, compares the image data with reference image data, and performs work with the portable robot device 2. The amount of positional deviation relative to the device 4 is calculated by image processing. Then, an offset (correction) is applied to the preset reference posture data and the reference motion position data based on this amount of positional deviation to obtain the posture data and motion position data (data group A) referred to by the motion program. Note that by importing the image data of the first target mark 10, the relative position between the working device 4 and the portable robot device 2 is defined, so the position of the processing stage 57 with respect to the portable robot device 2 is defined. be done. Note that the amount of positional shift includes distance and direction.

Subsequently, as shown in FIG. 5, the manipulator 23 is driven by executing the operation program to move the manipulator 23 to a position where the visual sensor 36 can detect the second target mark 54. The relative positional relationship between the visual sensor 36 and the second target mark 54 at this time is different from that when the reference image data is captured. When the visual sensor 36 detects the second target mark 54, the controller 37 captures the image data of the second target mark 54, compares the image data with reference image data, and connects the portable robot device 2 and the portable work stocker. 3 is calculated by image processing. Then, an offset (correction) is applied to the preset reference posture data and the reference motion position data based on this amount of positional deviation, and these are used as the posture data and motion position data referred to by the motion program (data group B ). Next, the third target mark 55 is detected.

Before the visual sensor 36 detects the third target mark 55, the manipulator 23 is driven to grip the handle 49 with the grip portion 35 to a position where the visual sensor 36 can detect the third target mark 55. The work pallet 51 is pulled out from the housing 50.

FIG. 6 is a perspective view showing a situation in which the manipulator 23 pulls out the work pallet 51 from the housing 50. The portable work stocker 3 is disposed inside the second enclosing frame mark 7, and has a defined relative position with the portable robot device 2. A third target mark 55 is arranged on the workpiece placement surface 58 of the workpiece pallet 51. The third target mark is placed on each of the work pallets 51 arranged in multiple stages. Since the relative positional relationship between the housing 50 and the handle 49 is known, the relative positional relationship between the handle 49 and the portable robot device 2 can also be calculated and defined. Therefore, by executing the operation program with reference to posture data and operation position data that take these into account, the work pallet 51 can be pulled out or pushed back by driving the manipulator 23.

As shown in FIG. 7, after the work pallet 51 is pulled out, the manipulator 23 is driven by executing the operation program to move it to a position where the visual sensor 36 can detect the third target mark 55. The relative position of the visual sensor 36 and the third target mark 55 at this time is different from that when the reference image data is captured. When the visual sensor 36 detects the third target mark 55, the controller 37 takes in the image data of the third target mark 55 based on this, compares the image data with the reference image data, and connects the portable robot device 2 and the workpiece. The amount of positional deviation relative to the pallet 51 is calculated by image processing. Then, an offset is applied to the preset reference posture data and the reference motion position data based on this amount of positional deviation, and these are used as the posture data and motion data referred to by the motion program (data group C).

Note that the workpiece W is placed at a predetermined position on the workpiece placement surface 58. Therefore, if the relative position of the portable robot device 2 and the work pallet 51 is known, the position of each work W with respect to the portable robot device 2 can be defined. Therefore, by executing the operation program with reference to the posture data and operation position data taken into consideration, the workpieces W can be picked up in the programmed order. Further, in the example shown in the figure, the work stocker 51 is arranged in multiple stages in the housing 50, and in each stage, it is necessary to detect the third target mark 55 and check the amount of deviation from the reference image data. By repeating the operations of calculating and applying an offset, it becomes possible to pick up the workpieces W one by one on the workpiece pallet.

The above data group A, data group B, and data group C are combined by the controller 37, the workpiece W is picked up from the portable workpiece stocker 3, and the material is fed to the processing stage 57 of the working device 4, and the processed workpiece W is processed. The manipulator 23 is driven by executing a series of operation programs for removing material from the device 4.

FIG. 8 is a perspective view showing a situation in which the manipulator 23 picks up the workpiece W. The manipulator 23 picks up the workpiece W placed at a predetermined position using the gripping portion 35 according to the reference posture data and the reference motion position data plus the posture data and motion position data. The wrist 31 having the grip portion 35 rotates in accordance with the placement position and posture of the workpiece W and picks up the workpiece W. Note that when the work pallet 51 is pulled out from the housing 50, it may be tilted due to its own weight and the weight of the work W. Even when the work pallet 51 is tilted, that is, even when the work W is tilted, the manipulator 23 can pick up the work W. This will be explained with reference to FIG.

FIG. 9 is a partial front view showing a situation in which the manipulator 23 picks up the workpiece W. 9(a) shows a situation in which the work pallet 51 is pulled out horizontally from the housing 50, and FIG. 9(b) shows a situation in which the drawn out work pallet 51 is inclined by an angle θ with respect to the horizontal plane. represents. In a situation where the work pallet 51 is pulled out horizontally, the wrist 31 is directed vertically, the grip part 35 is moved downward to grip the work W, and moved upward to pick up the work W.

In a situation where the pulled-out workpiece pallet 51 is inclined by an angle θ with respect to the horizontal plane, the visual sensor 36 detects the third target mark 55 and compares the image data acquired with the reference image data, and performs image processing. Calculate the inclination angle θ. Therefore, by tilting the wrist 31 with respect to the vertical axis by an inclination angle θ and moving the wrist 31 in a direction perpendicular to the workpiece mounting surface 58, the workpiece W can be reliably picked up. That is, by acquiring the image data of the third target mark 55 while the work pallet 51 is pulled out from the housing 50, the work W can be reliably picked up.

Note that when the work pallet 51 is pulled out from the housing 50, the work pallet 51 may be inclined in the length direction or in the width direction, as shown in FIG. 9(b). When the workpiece pallet 51 is tilted in various directions as described above, by detecting the third target mark 55 and correcting the tilt angle and direction, the workpiece W can be moved to the workpiece regardless of the tilt. The work W can be picked up by moving the wrist 31 in a direction perpendicular to the work placement surface 58 of the pallet 51. Next, a method for supplying and removing materials from the workpiece W using the workpiece supplying and removing system 1 will be described with reference to FIG. 10.

[Method for supplying and removing material from work W]
FIG. 10 is a process flow diagram showing the main steps of the method for supplying and removing materials from the workpiece W. First, the portable work stocker 3 is transferred to the inside of the second enclosing frame mark 7 (step S1), and the portable robot device 2 is transferred to the inside of the first enclosing frame mark 6 (step S2). Note that the transportable work stocker 3 and the transportable robot device 2 may be transferred in any order.

Once the portable robot device 2 has been transferred to the inside of the first enclosing frame mark 6, the outriggers 24 are turned (step S3) to fix the position and posture of the portable robot device 2. Next, the manipulator 23 is activated, the visual sensor 36 detects the first target mark 10 (step S4), and the image data of the first target mark 10 is compared with the reference image data, and the working device 4 and the portable robot device are compared. 2 is calculated (step S5). The posture data and operation position data of the manipulator 23 are corrected based on this relative positional deviation amount (step S6). Here, correcting means applying an offset to preset reference posture data and reference motion position data, and using this as the posture data and motion position data referred to by the motion program.

Subsequently, the manipulator 23 is driven, the handle 14 is gripped by the grip part 35, and the door 13 of the working device 4 is opened (step S7). This operation is an operation for making it possible to feed the workpiece W, and is executed according to an operation program. Note that the opening/closing door 13 may be opened and closed by an operator. After opening the door 13, the manipulator 23 is further driven, the visual sensor 36 detects the second target mark 54 (step S8), and the image data of the second target mark 54 is compared with the reference image data. The amount of relative positional deviation between the portable work stocker 3 and the portable robot device 2 is calculated (step S9). The posture data and operation position data of the manipulator 23 with respect to the portable workpiece stocker 3 are corrected based on this relative positional deviation amount (step S10). Here, correcting means applying an offset to preset reference posture data and reference motion position data, and using this as the posture data and motion position data referred to by the motion program.

Next, the designated work pallet 51 (the work pallet 51 on which the work W to be supplied is placed) is pulled out by the manipulator 23 (step S11). Furthermore, the manipulator 23 is driven, the visual sensor 36 detects the third target mark 55 (step S12), and the image data of the third target mark 55 is compared with the reference image data to determine the relative relationship between the work pallet 51 and the manipulator 23. The amount of positional deviation is calculated (step S13). The operating position of the manipulator 23 with respect to the work pallet 51 is corrected based on this relative displacement amount (step S14). Here, correcting means applying an offset to preset reference posture data and reference motion position data, and using this as the posture data and motion position data referred to by the motion program. Next, the specified workpiece W (material supply target workpiece W) is picked up by the manipulator 23 (grip portion 35) (step S15), the workpiece W is transferred to the processing stage 57 (step S16), and the opening/closing door 13 is opened. Close it (step S17).

The working device 4, which recognizes that the door 13 is closed, starts machining work (or processing work, etc.) on the workpiece W. When the processing of the workpiece W is completed, the manipulator 23 is driven to open the opening/closing door 13 (step S19), the workpiece W is picked up from the processing stage 57 (step S20), and the workpiece is placed at a predetermined position on the workpiece pallet 51, e.g. The target workpiece W is removed to the original position where it was picked up (step S21). When a plurality of works W are placed on the work pallet 51, the steps S15 to S21 are repeated until a predetermined number of works W are picked up. Note that the position at which the work W is removed is not a predetermined position in the work stocker 3, but may be another removal pallet, another work stocker for removal of material, or the like.

When a predetermined number of materials have been picked up and removed, the manipulator 23 is further driven to push the work pallet 51 into the housing 50 (step S22). When there are multiple stages of work pallets 51, the steps from step S11 to step S22 are repeated, and when the feeding or removal of the workpieces W mounted on the portable workpiece stocker 3 is completed, the opening/closing door 13 is closed ( Step S23). If further replenishment of workpieces W is required, the portable workpiece stocker 3 is replaced (step S24). That is, the portable work stocker 3 loaded with the work W is transferred from the stock area to the inside of the second enclosing frame mark 7, and the steps from step S8 to step S22 are repeated.

Note that the steps from step S4 to step 23 described above are continuously and automatically executed by the operation program without human intervention.

Although not shown, the portable robot device 2 includes information means for exchanging status information with the work device 4. Examples of information means include information exchange means through communication means such as wireless communication and wired communication, information exchange means through a network, display panels, lamps, operation panels, switches, etc. provided on work equipment, which are read by the visual sensor 36. This includes image recognition means for making judgments. For example, if the working device 4 is equipped with a communication means, when the workpiece W is fed to the working device 4, a "material feeding end signal" is transmitted to the working device 4 via the communication means, and a "material feeding end signal" is sent to the working device 4 via the communication means. The work device 4 that receives the "material feeding end signal" starts work. Alternatively, the visual sensor 36 may detect the "material feeding end display" displayed on the display panel 12 of the working device 4, the lighting of a lamp at the end of material feeding, etc., or the ON/OFF switch provided in the working device. It is possible to configure the information means by operating the switch with the manipulator 23 to start or stop the working device 4. Further, the work device 4 transmits to the portable robot device 2 via the communication means that the feeding of the workpiece W to the work device 4 has been completed, or that a predetermined processing or processing work has been completed, The portable robot device 2 can also constitute an information means that drives the manipulator 23 to open and close the door 13. Note that if the work device 4 is equipped with a buzzer or the like, the information means can be configured by detecting the buzzer sound with the portable robot device 2 and having the manipulator 23 execute each of the above operations. .

The workpiece removal and supply system 1 described above is a workpiece supply and removal system in which the workpiece W is supplied and removed by the portable robot device 2 between the portable workpiece stocker 3 and the working device 4. The portable robot device 2 includes a manipulator 23 mounted on a portable cart 21, a visual sensor 36 attached to the manipulator 23, and a controller 37 as a control means for controlling the manipulator 23 and the visual sensor 36.

The portable robot device 2 is placed somewhere inside the first enclosing frame mark 6 provided on the floor 5, and the first target mark 10 placed on the working device 4 detected by the visual sensor 36 The image data of the first target mark 10 stored in the controller 37 are compared with the reference image data of the first target mark 10, and the amount of relative positional deviation between the working device 4 and the portable robot device 2 is calculated. An offset is applied to the reference posture data and reference motion position data of the manipulator 23 that are set in advance based on the amount, and this is used as the posture data and motion position data referred to by the motion program.

Further, when the portable work stocker 3 is placed somewhere inside the second enclosing frame mark 7 provided on the floor surface 5, the second target mark 55 placed on the work stocker 3 detected by the visual sensor 36 The image data is compared with the reference image data of the second target mark 54 stored in the controller 37, and the amount of relative positional deviation between the portable work stocker 3 and the portable robot device 2 is calculated. An offset is applied to the reference posture data and reference motion position data of No. 23, and these are used as the posture data and motion position data referred to by the motion program.

Furthermore, the image data of the third target mark 55 arranged on the work pallet 51 housed in the portable work stocker 3 detected by the visual sensor 36 and the reference of the third target mark 55 stored in the controller 37 The relative positional deviation amount between the work pallet 51 and the portable robot device 2 is calculated by comparing the image data with the image data, and the reference posture data and reference operation position data of the manipulator 23 that are set in advance based on the positional deviation amount are calculated. is applied with an offset, and this is used as posture data and motion position data referenced by the motion program.

The manipulator 23 picks up the workpiece W from the portable workpiece stocker 3 based on the posture data and operation position data of the manipulator 23, and supplies or removes the workpiece from the working device 4.

The workpiece removal/supply material system 1 drives the manipulator 23 by executing an operation program with the portable robot device 2 placed inside the first enclosing frame mark 6, and drives the manipulator 23 by running the operation program with the portable robot device 2 placed inside the first enclosing frame mark 6. The image data of the first target mark 10 is captured, and the amount of positional deviation is calculated by comparing the image data and the reference image data. Then, an offset is applied to the preset reference posture data and reference motion position data based on the amount of positional deviation, and the manipulator 23 is driven as the posture data and motion position data referred to by the motion program.

In addition, the manipulator 23 is driven by executing the operation program with the portable work stocker 3 placed inside the second enclosing frame mark 7, and the second target placed on the portable work stocker 3 is driven by the visual sensor 36. The amount of positional deviation is calculated by capturing the image data of the mark 54 and comparing the image data with reference image data. Then, an offset is applied to the reference posture data and the reference motion position data set in advance based on the amount of positional deviation, and the manipulator 23 is driven as the posture data and motion position data referred to by the motion program.

Further, with the work pallet 51 pulled out from the housing 50, the manipulator 23 is driven by executing the operation program, and the image data of the third target mark 55 placed on the work pallet 51 is captured by the visual sensor 36, and the reference The amount of positional deviation is calculated by comparing it with the image data. Then, an offset is applied to the preset reference posture data and reference motion position data based on the amount of positional deviation, and the manipulator 23 is driven as the posture data and motion position data referred to by the motion program.

According to the work supply/removal system 1 described above, the relative positions of the portable robot device 2 and the portable work stocker 3 and the relative positions of the work device 4 and the work device 4 can be adjusted without modifying the existing work device 4. It becomes possible to supply the work W to the work device 4 and to remove the work W from the work device 4 without strictly specifying the relative position with respect to the transportable robot device 2.

Note that the first target mark 10, the second target mark 54, and the third target mark 55 described in this embodiment can be common, for example, a circle, a polygon, or a combination of both. It is possible to use a sticker that depicts a combination or a combination of a plurality of intersecting straight lines or circles or polygons and straight lines. Alternatively, it may be a piece-like three-dimensional object. It can be placed at any position that can be detected by the visual sensor 36 of the work device 4, portable work stocker 3, and work pallet 51.

In addition, in the workpiece removal and supply system 1, the portable robot device 2 is arranged inside the first enclosing frame mark 6, the portable workpiece stocker 3 is arranged inside the second enclosing frame mark 7, and the manipulator 23 is In the setting, the reference image data and reference operation position data related to the work device 4 are the first data captured when the manipulator 23 is driven by manual operation and the visual sensor 36 is in a state where the first target mark 10 can be detected. These are image data of the target mark 10 and operation position data of the manipulator 23 in that state.

Further, the reference image data and reference operation position data related to the portable work stocker 3 are the reference image data and the reference operation position data that are captured when the manipulator 23 is driven by manual operation and the visual sensor 36 is in a state where the second target mark 54 can be detected. These are image data of the two target marks 54 and operation position data of the manipulator 23 in that state.

Further, the reference image data and reference operation position data related to the work pallet 51 are the third target captured when the manipulator 23 is driven by manual operation and the visual sensor 36 is in a state where the third target mark 55 can be detected. These are the image data of the mark 55 and the operation position data of the manipulator 23 in that state.

As explained above, at the time of initial setting of the manipulator 23, the portable robot device 2 is placed in the area inside the first enclosing flake mark 6, and the portable work stocker 3 is placed in the area inside the second enclosing frame mark 7. The manipulator 23 is manually operated to capture image data of the first target mark 10, the second target mark 54, and the third target mark 55. Each of the image data is defined as reference image data, the attitude data of the manipulator 23 when capturing each reference image data is defined as reference attitude data, and the motion position data is defined as reference motion position data. This reference posture data and reference motion position data define the posture data and motion position data of the manipulator 23.

By comparing each of these reference image data and each image data captured during actual operation, the relationship between the working device 4 and the portable robot device 2, and between the portable work stocker 3 and the portable robot device can be determined. Calculate the relative positional deviation amount, apply an offset (data correction) to the movement position data when capturing the actual image data from this positional deviation amount, and use this as the posture data and movement position data referenced by the movement program. do. This makes it possible to drive the manipulator 23 with respect to the portable work stocker 3 and the work pallet 51.

Further, the portable work stocker 3 includes a housing 50 and a work pallet 51 disposed inside the housing 50, and a work W is placed at a predetermined position on a work placement surface 58 of the work pallet 51. , the third target mark 55 is arranged at a position on the workpiece placement surface 58 that can be detected by the visual sensor 36.

The work pallet 51 is arranged in multiple stages, and a third target mark 55 is arranged in each stage. The position and inclination of the third target mark arranged for each work pallet 51 are not necessarily the same. Therefore, the third target mark is detected by the visual sensor 36 for each work pallet 51, image data is acquired, and compared with the reference image data. The operating position data of the manipulator 23 is corrected by calculating the amount of positional deviation. By doing so, it becomes possible to reliably pick up the workpieces W on all of the workpiece pallets 51 arranged in multiple stages.

The manipulator 23 can horizontally pull out or push back the work pallets 51 arranged in multiple stages from the housing 50 one stage at a time. The third target mark 55 is arranged at a position that can be detected by the visual sensor 36 when the work pallet 51 is pulled out from the housing 50.

The manipulator 23 pulls out the work pallet 51 from the housing 50 and picks up the work W. At this time, the visual sensor 36 detects the third target mark 55 placed on the work pallet 51 from which the work W is to be picked up, and determines the position and inclination of the work pallet 51 in the plane direction and height direction from the detected image data. It becomes possible to pick up the workpiece W after recognizing the situation and correcting the posture data and operation position data of the manipulator 23 for each stage. With such a configuration, it becomes possible to reliably pick up the workpiece W that is inclined following the workpiece tray W.

The portable robot device 2 further includes information means for recognizing situation information of the work device 2, and the controller 37, which is a control device, operates the manipulator 23 with respect to the work device 4 and the portable work stocker 3 based on the situation information. control. Examples of the information means include information exchange means through communication means such as wireless communication and wired communication, information exchange means through a network, display panel 12, lamps, operation panel 11, switches, etc. provided in the work device 4, and visual sensors. It includes image recognition means for reading and making judgments at 36.

Since the portable robot device 2 is equipped with the information means in this way, information such as the feeding status and processing status of the workpiece W can be exchanged between the work device 4 and the portable robot device 2, and the manipulator 23 can It becomes possible to perform the opening/closing operation of the opening/closing door 13 and the starting and stopping operations of the working device 4 without human intervention.

The portable robot device 2 also includes a portable trolley 21 having wheels 20 at the bottom, a manipulator 23 mounted on the portable trolley 21, a visual sensor 36 attached to the manipulator 23, and a transportable trolley 21 having wheels 20 at the bottom thereof. It is provided with a controller 37 which is a control means for controlling. The visual sensor 36 detects and captures the first target mark 10, the second target mark 54, and the third target mark 55, and compares each image data corresponding to the captured target mark with each reference image data. The amount of relative positional deviation between the device 2, the working device 4, and the portable work stocker 3 is calculated, and the reference posture data and standard operation position data set in advance are corrected based on each amount of positional deviation, and the manipulator 23 is adjusted. drive

With the portable robot device 2 placed at an arbitrary position inside the first enclosing frame mark 6 and the portable work stocker 3 placed at an arbitrary position inside the second enclosing frame mark 7, the first target mark 10 is placed. , the second target mark 54 and the third target mark 55 are detected by the visual sensor 36, the acquired image data and the reference image data are compared, and the work device 4, the portable robot device 2, the portable work stocker 51, and the workpiece are detected. Each relative positional deviation amount between the pallet 51 and the portable robot device 2 is calculated. Then, the manipulator 23 is controlled by correcting each relative positional deviation amount. With this configuration, if the portable robot device 2 is transferred to the inside of the first enclosing frame mark 6 and the portable work stocker 3 is placed inside the second enclosing frame mark 7, the existing work can be carried out. The work W can be fed from the portable stocker 3 to the working device 4 and the work can be carried out without modifying the device 4 and without strictly specifying the relative position with the working device 4 or the portable workpiece stocker 3. It becomes possible to remove material from the device 4 to the portable work stocker 3.

Further, the portable trolley 21 includes an outrigger 24 that fixes the position and posture of the portable trolley 21 in a stationary position, and the outrigger 24 can be rotated from the portable trolley 21 to any position in multiple directions along the floor surface 5. An outrigger arm 40 and an outrigger post 41 are screwed onto the tip of the outrigger arm 40 and are extendable and retractable to a height that can be adjusted to a height position in which it comes into contact with the floor surface 5 or is separated from the floor surface 5.

By providing the outriggers 24, even if the portable trolley 21 is downsized, it can be installed in a stable position and posture during operation. By closing the outriggers 24, the portable robot device 2 can be easily transported even in a narrow space. Furthermore, since the outrigger arm 40 of the outrigger 24 can be rotated to any position in the plane direction, even if there is an obstacle on the floor 5 on which the portable robot device 2 is installed, the outrigger arm 40 can be moved to a position that avoids the obstacle. It is possible to install Furthermore, since the outrigger post 41 is expandable and retractable to the desired height, the portable robot device 2 can be installed in a stable posture even if the floor surface 5 is inclined.

Further, in the portable work stocker 3, work pallets 51 on which works W are placed are arranged in multiple stages inside a housing 50 having wheels 52 at the bottom. The work pallet 51 is configured to be able to be pulled out and pushed back horizontally from the housing 50 one stage at a time. A second target mark 54 is provided on the housing 50, and a third target mark 55 is provided on the workpiece placement surface 58 of the workpiece pallet 51. When the portable work stocker 3 is placed inside the second enclosing frame mark 7, the second target mark 54 and the third target mark 55 are located inside the first enclosing frame mark 6. The visual sensor 36 is placed at a position where it can be detected.

With this configuration, if the portable work stocker 3 is installed at an arbitrary position inside the second enclosing frame mark 7, it becomes possible to detect the position and attitude including the inclination of the work pallet 51. This makes it possible for the portable robot device 2 to pull out and push back the work pallet 51 from the housing 50, and continues to feed and remove materials from the work W until a predetermined quantity is reached without human intervention. becomes possible. From the above, it is possible to pick up and remove the workpiece W without strictly defining the relative position of the portable workpiece stocker 3 with respect to the portable robot device 2. Note that it is possible to use only one stage of the work pallet 51 as a work placement surface. Further, it is also possible to use the top plate of the housing 50 as a workpiece mounting surface.

DESCRIPTION OF SYMBOLS 1...Work supply/removal material system, 2...Portable robot device, 3...Portable work stocker, 4...Work device, 5...Floor surface, 6...First surrounding frame mark, 10...First target mark, 12...Display Panel, 13... Door, 20, 52... Wheel, 21... Portable trolley, 23... Manipulator, 24... Outrigger, 26... First axis, 27, 29... Arm, 28... Second axis, 30... Third axis , 31...Wrist, 32...Fourth axis, 33...Fifth axis, 34...Sixth axis, 35...Gripping part, 36...Visual sensor, 37...Controller (control means), 40...Outrigger arm, 41...Outrigger post , 50...Housing, 51...Work pallet, 54...Second target mark, 55...Third target mark, 57...Machining stage, 58...Work placement surface, W...Workpiece, θ...Inclination angle

Claims (8)

A workpiece supply and removal system that supplies and removes workpieces between a portable workpiece stocker and a working device using a portable robot device,
The portable robot device includes a manipulator mounted on a portable cart, a visual sensor attached to the manipulator, and a control means for controlling the manipulator and the visual sensor,
(1) With the portable robot device placed somewhere inside a first enclosing frame mark provided on the floor, the first target mark placed on the work device detected by the visual sensor The image data is compared with the reference image data of the first target mark stored in the control means, and a relative positional deviation amount between the working device and the portable robot device is calculated, and the positional deviation is calculated. applying an offset to the standard posture data and standard motion position data of the manipulator that are preset based on the amount, and making this the posture data and motion position data referenced by the motion program;
(2) A second target placed on the portable work stocker detected by the visual sensor while the portable work stocker is placed somewhere inside the second enclosing frame mark provided on the floor surface. The image data of the mark is compared with the reference image data of the second target mark stored in the control means, and a relative positional deviation amount between the portable work stocker and the portable robot device is calculated. , applying an offset to the reference posture data and the reference motion position data that are set in advance based on the amount of positional deviation, and making this the posture data and motion position data referenced by the motion program;
(3) Image data of a third target mark arranged on a work pallet housed in the portable work stocker detected by the visual sensor and a reference for the third target mark stored in the control means. The relative positional deviation amount between the work pallet and the portable robot device is calculated by comparing the image data, and the reference posture data and the standard operation position data are set in advance based on the positional deviation amount. Apply an offset and use this as posture data and motion position data that the motion program refers to,
(4) The manipulator picks up the work from the portable work stocker based on the corrected posture data and operation position data of the manipulator, and supplies the work to the work device or removes the work from the work device.
A work supply/removal material system characterized by: The work supply and removal material system according to claim 1,
disposing the portable robot device inside the first enclosing frame mark, disposing the portable work stocker inside the second enclosing frame mark, and initializing the manipulator,
The reference image data and the reference operation position data related to the working device are the first data acquired when the manipulator is driven by a manual operation and the visual sensor is in a state in which the first target mark can be detected. image data of a target mark and operation position data of the manipulator in that state;
The reference image data and the reference operation position data regarding the portable work stocker are the reference image data and the reference operation position data that are captured when the manipulator is driven by manual operation and the visual sensor is in a state where the second target mark can be detected. image data of a second target mark and operation position data of the manipulator in that state;
The reference image data and the reference operation position data related to the workpiece pallet are the third data acquired when the manipulator is driven by manual operation and the visual sensor is in a state where the third target mark can be detected. image data of a target mark and operation position data of the manipulator in that state;
A work supply/removal material system characterized by: In the work supply and removal material system according to claim 1 or claim 2,
The portable work stocker has a housing and the work pallet disposed inside the housing,
The workpiece is placed at a predetermined position on the workpiece placement surface of the workpiece pallet,
The third target mark is arranged at a position on the workpiece placement surface that can be detected by the visual sensor.
A work supply/removal material system characterized by: In the work supply and removal material system according to claim 1 or claim 2 ,
The portable work stocker has a housing and the work pallet disposed inside the housing,
The manipulator is capable of horizontally pulling out and pushing back the work pallets arranged in multiple stages from the housing one stage at a time,
The third target mark is arranged at a position that can be detected by the visual sensor when the work pallet is pulled out from the housing.
A workpiece removal material system characterized by the following. In the workpiece removal material system according to any one of claims 1 to 4,
The portable robot device includes information means for recognizing status information of the work device,
The control means controls the operation of the manipulator with respect to the work device and the portable work stocker based on the situation information.
A work supply/removal material system characterized by: A portable robot device constituting the work material supply/removal system according to any one of claims 1 to 5 and responsible for the work material supply operation and material removal operation,
a portable trolley with wheels at the bottom;
the manipulator mounted on the portable trolley;
a visual sensor attached to the manipulator;
the control means for controlling the manipulator and the visual sensor;
Equipped with
The visual sensor detects and captures the first target mark, the second target mark, and the third target mark and compares each image data corresponding to the target mark with each of the reference image data, Calculating the amount of relative positional deviation between the device and the portable work stocker, correcting each of the reference posture data and each of the reference operation position data set in advance based on the amount of positional deviation, and driving the manipulator. do,
A portable robot device characterized by: The portable robot device according to claim 6,
The portable trolley includes an outrigger that fixes the position and posture of the portable trolley at a stationary position,
The outrigger includes an outrigger arm that can be rotated from the portable trolley to arbitrary positions in a plurality of directions along the floor surface, and is screwed to a tip of the outrigger arm, and is set at a height position where it comes into contact with the floor surface or the floor surface. Features an outrigger post that can be adjusted in height away from the
A portable robot device characterized by: A portable work stocker that constitutes the workpiece supply/removal system according to any one of claims 1 to 5 and is responsible for transporting the workpieces,
The work pallet on which the work is placed is arranged in multiple stages inside a housing having wheels at the bottom,
The work pallet can be pulled out and pushed back horizontally from the housing one stage at a time,
The housing is provided with the second target mark, the workpiece placement surface of the workpiece pallet is provided with the third target mark, and the portable workpiece stocker is disposed inside the second enclosing frame mark. At this time, the second target mark and the third target mark are arranged at positions where the visual sensor of the portable robot device installed inside the first surrounding frame mark can detect the second target mark and the third target mark. Ta,
A portable work stocker characterized by:

Images