JPS60220166A - Article processing method of robot - Google Patents

Abstract

PURPOSE:To apply accurate processing with good efficiency, by mounting a standardized processing instrument to the hand of an industrial robot by an interchangeable jig and diverting a program even to other robot. CONSTITUTION:The hand of a robot A and that of a robot B are respectively equipped with coating apparatuses each of which has a standarized processing instrument consisting of a viscous liquid emitting jig 5, which is constituted of an emitting nozzle 5a and a gas blowing nozzle 5b, and a viscous liquid applicator 9 consisting of a motor 6, a speed reducer 7 and a rotary brush 8 and an interchangeable jig consisting of a case 1 for mounting said processing elements to the hand of each robot in an aseembled state, a cylinder 2 and a disc 3 assembled therein. Then, the copies of a teaching program are respectively set to the control panels of the robots A, B. The emitting nozzles 5a of two sets of the coating apparatuses are connected to an adhesive storage tank through pipes 11 to perform coating.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for applying a viscous liquid to an article, in particular a method for applying a viscous liquid to an article, and furthermore, in shoe manufacturing, a plurality of industrial robots of the same type are used to apply a viscous liquid to an upper and/or an outsole. A method of applying an adhesive is provided.

When manufacturing shoes, it is necessary to apply adhesive to the upper part of the shoe and to the outsole of the shoe.
Adhesives are viscous liquids that are difficult to handle, many shoes are manufactured in small quantities in a wide variety of products, and their shapes are complicated. There is still no satisfactory automatic coating device available.

By the way, the applicant has developed an automatic device for applying adhesive to the upper and outsole using an industrial robot, and has already applied for a patent. Since it is common for drying to be repeated twice, we conducted research to develop a system that can perform this double-coating process more efficiently.

In view of this situation, the present invention has been devised so that the above-mentioned two-coat operations are not individually controlled, but are performed by a teaching program having the same content.

That is, the present invention has the following features: 1. A standardized processing tool is attached to the hand of an industrial robot using a compatible jig, and the same is attached to a plurality of industrial robots of the same type that have been attached in this manner. A method for processing articles by a robot, which is characterized by giving a teaching program of contents and causing the robot to perform the same processing operation.

2. A standardized processing tool consisting of a viscous liquid discharge tool and a viscous liquid applicator is attached to the hand of an industrial robot using a compatible jig, and multiple identical type processing tools are attached in this way. The above method is characterized in that a viscous liquid is applied to an article by giving an industrial robot a teaching program with the same content and causing it to perform the same & cloth processing operations.
Method of processing articles by the robot described.

3. Compatible jigs include a case for accommodating the drive mechanism of the viscous liquid applicator, a hand fixing disk connected to the case, and a viscous liquid dispensing tool support member attached to the case. 2. A method for processing an article using a robot according to 2 above, which is a jig comprising:

It is in.

In the present invention, a standardized processing tool is used, and this processing tool is attached to the hand of an industrial robot using a compatible jig, so that removing and attaching the processing tool is easy. No matter how many times it is performed, the relative position to the hand does not change, and as long as the contents of the teaching program do not change, deviations during machining such as coating deviations will not occur. Therefore, even if a program taught to one industrial robot or a copy thereof is transferred to another industrial robot of the same type, there will be no processing deviation on the target object, and the same processing will be performed accurately. . That is, the present invention uses a processing tool standardized as a Φ processing tool, ii) This processing tool is attached to the hand of an industrial robot using a compatible jig, and (■ By giving a teaching program with the same content to multiple industrial robots of the same type equipped in this way and having them perform the same processing operation, it is possible not only to accurately perform processing such as double coating, but also to perform multiple As a result, it has become possible to automatically and efficiently perform product processing that was difficult to automate in the past, such as applying adhesive to uppers, outsoles, etc.

In the present invention, it is essential to use a standardized processing tool.

A processing tool refers to a tool for performing various processing on an article, and may be one piece or a plurality of pieces.

For example, for the purpose of applying adhesive, a viscous liquid dispensing device (a dispensing nozzle connected via a pipe to a gas-pressurized viscous liquid storage tank, and a viscous liquid dripping from the tip of the nozzle to drain the liquid when dispensing is stopped) is used. A nozzle is used to blow away gas) and a viscous liquid applicator (a brush for applying viscous liquid, and a motor and speed reducer as a drive mechanism to rotate the brush)
is used as a processing tool.

A standardized processing tool means that the manufacturing accuracy of the processing tool, such as differences in structure, dimensions, and eccentricity of the shaft, does not cause problems in the processing accuracy of the article to be processed.

In the present invention, it is an essential requirement that this processing tool be mounted on the /\end of the industrial robot/port using a compatible jig.

Jigs are usually used to attach processing tools to the hands of industrial robots, but these jigs are usually manufactured to suit each individual robot and its processing tools, and are designed to prevent the processing tools from moving. As long as it can be attached to the hand of a robot, there is often no need for compatibility.

However, when making multiple industrial robots perform the same machining operation using a copy of a program taught to one robot, if incompatible jigs are used, the standardized machining tools may not be used. Even if the tool is attached to or removed from the hand of an industrial robot, the attachment position of the processing tool often shifts, and the processing position may shift even though the teaching program has not changed. This can lead to problems such as.

Compatible fixtures are rigid materials (structural materials)
The processing tools can always be fixed at the same coordinate position, and the structural dimensions are such that even if two jigs are replaced, there will be no problem with processing accuracy. In order to meet these requirements, it is desirable that the device be small, lightweight, not deformed under the use environment, and easy to attach to and detach from the hand of an industrial robot, or to attach and detach from a processing tool. Therefore, it is preferable to adopt a fitting type, a screw-in type, or a screw-fastening type as the attachment and detachment method.

A preferred example of such a compatible jig is one in which the processing tool is for adhesive application, and as mentioned above, a viscous liquid discharging tool (a gas-pressurized viscous liquid storage tank via a pipe). A continuous discharge nozzle, a nozzle for blowing off the viscous liquid that drips from the nozzle tip to drain the liquid when the discharge is stopped, and a viscous liquid applicator (a brush for applying the viscous liquid, and a rotating brush) A case consisting of a bottom plate, side plates, and back plate for accommodating the drive mechanism (motor and reducer) of the viscous liquid applicator. , a hand fixing disk connected to the back plate of the case, and a viscous liquid discharging tool support member attached to the bottom of the bottom plate of the case.

FIG. 1 is a partially cutaway perspective view showing an example of such a jig.

In Figure 141, (1) is the case, (la), (Ib)
.

(Ic) are a bottom plate, both side plates, and a back plate, which respectively constitute the case (1). (2) is the back plate of this case (1) (
A cylindrical body for hand fitting that is integrally fixed to the lc),
The industrial robot's hand is inserted here. (3) is a hand fixing disk connected to this cylinder (2), and this disk (3) is bolted to the hand of an industrial robot.

(4) is a viscous liquid discharging tool support member attached to the lower part of the tip side of the bottom plate (la) of the case (1).

FIG. 2 is a perspective view of a viscous liquid discharging tool and a viscous liquid applicator attached as working tools to the jig shown in FIG. 1.

(5) is a viscous liquid discharging device attached to the viscous liquid discharging device support member (4), and the gas spray for blowing away excess viscous liquid when the discharging nozzle (5a) and viscous liquid discharging is stopped is carried out through the nozzle (5a).
5b). (11) is the pipe that sends the viscous liquid to the discharge nozzle (5a), and (12) is the nozzle (5b) that blows the gas.
A pipe that sends compressed gas to. On the other hand, (6) is a motor, (7) is a reducer connected to the motor (6), (
8) is a rotating brush attached to the shaft of the reducer (7), which constitutes a viscous liquid applicator (9). (10) is a rod installed between the back plate (1c) and the speed reducer (7).

In the present invention, the standardized processing tool described above is attached to the hand of an industrial robot using a compatible jig, and a program taught to one robot or a copy thereof is transferred to another robot. Therefore, multiple industrial robots of the same type are given a teaching program with the same content and made to perform the same machining operation, but the processing tools used are standardized and the jigs are also compatible. Therefore, it is possible to efficiently and accurately process the article without causing any machining deviations.

The method of the present invention is particularly useful when applying adhesive twice to the upper and/or outsole during shoe manufacturing. It can also be applied to cases where an article is polished with two or more different roughnesses, or where multiple production lines process the same article.

Next, the method of the present invention will be further explained with reference to Examples.

Example In this example, a viscous liquid discharge tool and a viscous liquid applicator are attached to the jig shown in FIG. 1 as shown in FIG. Attach it to the hand and use this industrial robot to apply two adhesives to the bottom of the upper.
This is an example of the case of multiple coats.

Robot A is placed at a predetermined position on the belt conveyor in order to apply adhesive to the bottom of the upper and dry it twice through each process: 1st adhesive application → 1st drying → 2nd adhesive application → 2nd drying. Two industrial robots of the same type, Robot A and Robot B, are arranged, and a fixing device for fixing the pallets is installed on the belt conveyor in front of these robots A and Robot H, respectively, and the pallets moving on the belt conveyor are fixed. It can be fixed at position A and fixed position B. Further, uppers suspended from a pair of shoe lasts are fixed upward to a support stand provided on each pallet. Then, the position of the pair of uppers and the three-dimensional arrangement of robot A when the pallet is fixed at fixed position A, and the position of the pair of uppers and the position of robot B when it is fixed at fixed position B. The system is adjusted so that the configuration, , is equal.

As shown in the drawing, a discharge nozzle (5a) and a viscous liquid discharge device (5) consisting of a nozzle (5b), a motor (6), a reducer (7), and a rotating brush (8) are used to blow gas. a standardized processing tool consisting of an applicator (9);
Prepare two sets each of compatible jigs consisting of a case (1), a cylinder (2), and a disc (3) to incorporate these and attach them to the robot's hand, and use these processing tools. As shown in FIG. 2, the coating device incorporated into the jig was attached to the hand of robot A and the hand of robot B, respectively.

Apply adhesive to the bottom of the instep as a passing point for each foot.
Mark the points, fix this pair of uppers to a support stand on a pallet, stop them at a fixed position A on the belt conveyor, and use the viscous liquid discharging tool of the applicator attached to the hand of robot A. 5) Trace the tip of the viscous liquid dispensing tool (5) over each point in turn so that the trajectory of the tip passes through the center of the rotating brush (8), and then In addition to teaching the speed, it also provides signals to discharge and stop adhesive, signals to start and stop spraying pressurized gas from the nozzle (5b), and rotation and rotation of the rotating brush (8). The timing of sending signals such as stop F signals was taught.

Copies of this teaching program were recorded on two magnetic tapes and set on the control panels of robot A and robot B, respectively.

The discharge nozzles (5a) of the two sets of coating devices are connected to the pipes (11).
For gas spraying, connect the nozzle (5b) to the pressurized gas pipeline via the pipe (12) to control the discharge and stop of the discharge of the adhesive. Solenoid valve terminal, solenoid valve terminal that controls pressurized gas blowout and blowout stop;
The terminals of the motor (6) for the rotating brush (8) were connected to the control panel of robot A and the control panel of robot B, respectively, and the same type of upper as used for teaching was fixed on the support stand. The pallets were conveyed onto a conveyor line, and two robots applied adhesive to the upper in sequence. As a result, the adhesive application trajectory by robot A and robot B
There was almost no deviation from the adhesive application trajectory, and two coats could be applied smoothly and efficiently by repeating application and drying.

[Brief explanation of the drawing]

Fig. 1 is a partially cutaway perspective view showing an example of a compatible jig, and Fig. 2 is a perspective view of the 70 jig equipped with a standardized processing tool.

Claims (1)

[Claims] 1. A standardized processing tool is attached to the hand of an industrial robot using a compatible jig, and the same is applied to a plurality of industrial robots of the same type that have been attached in this manner. A method for processing articles by a robot, which is characterized by giving a teaching program of contents and causing the robot to perform the same processing operation. 2. A standardized processing tool consisting of a viscous liquid discharge tool and a viscous liquid applicator is attached to the hand of an industrial robot using a compatible jig, and multiple identical type processing tools are attached in this way. 2. A method of processing an article by a robot according to claim 1, wherein the viscous liquid is applied to the article by giving a teaching program with the same content to the industrial robot and causing it to perform the same coating operation. 3. Compatible jigs include a case for accommodating the drive mechanism of the viscous liquid applicator, a hand fixing disk connected to the case, and a viscous liquid dispensing tool support member attached to the case. A method for processing an article using a robot according to claim 2, which is a jig comprising: