JPWO2013046356A1 - Robot system and workpiece manufacturing method - Google Patents

Abstract

A robot system (100) according to the present invention includes a robot (10) that performs work in accordance with teaching contents on a work (W), and a teaching change unit (that changes teaching contents for the work (W) based on the results of the work). 20). Preferably, the teaching changing unit (20) changes the position where the robot (10) performs the work with respect to the work (W). Preferably, there are a plurality of workpieces (W), and the teaching change unit (20) teaches another workpiece (W) while the robot (10) is working on one workpiece (W). Change the contents.

Description

  The present invention relates to a robot system and a workpiece manufacturing method.

  Industrial robots have been introduced into production sites for various purposes such as stably producing high-quality products or releasing humans from work involving fatigue. A typical industrial robot repeatedly operates in accordance with teaching content set in advance in the off state.

  Such an industrial robot is used for production of a workpiece (see, for example, Patent Document 1). The industrial robot disclosed in Patent Document 1 injects a urethane raw material liquid into each lower mold of a plurality of molds circulating in an automatic urethane foam molding line, and foams the raw material liquid to foam urethane. A molded product is produced. Patent Document 1 describes that the flow of the urethane raw material liquid is suppressed and defects in the molded product are suppressed by making the injection surface of the lower mold substantially horizontal.

JP-A-10-175227

  However, even when the robot performs work according to preset teaching contents, the work may not be performed with a predetermined accuracy depending on the work conditions. For example, in the industrial robot disclosed in Patent Document 1, a urethane molded product having a predetermined shape may not be obtained depending on the working temperature and the concentration unevenness of the urethane material.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a robot system and a workpiece manufacturing method in which the accuracy of work performed in accordance with teaching contents is improved.

  A robot system according to the present invention includes a robot that performs work in accordance with teaching content on at least one workpiece, and a teaching change unit that changes the teaching content on the at least one workpiece based on a result of the work. .

  In one embodiment, the teaching changing unit changes a position where the robot performs the work with respect to the at least one workpiece.

  In one embodiment, the at least one workpiece includes a plurality of workpieces.

  In one embodiment, the teaching change unit changes the teaching content for another work of the plurality of works while the robot is working on a work of the plurality of works. .

  In one embodiment, the plurality of workpieces include a first workpiece and a second workpiece, and the robot performs an operation on the second workpiece after performing an operation on the first workpiece, The teaching changing unit changes the teaching content for the second workpiece based on the result of the operation performed on the first workpiece by the robot before the robot performs the operation on the second workpiece.

  In one embodiment, the plurality of workpieces include a plurality of types of workpieces.

  In one embodiment, the plurality of workpieces include a first workpiece, a second workpiece of a type different from the first workpiece, and a third workpiece of the same type as the first workpiece, and the robot The work is performed on the second work after the work is performed on the first work, and then the work is performed on the third work after the work is performed on the second work. Changes the teaching content for the third workpiece based on the result of the task performed by the robot on the first workpiece before the robot performs the task on the third workpiece.

  In one embodiment, the robot system further includes a conveyor that conveys the at least one workpiece.

  In one embodiment, the robot system further includes a display unit that displays an image indicating the changed teaching content.

  In a certain embodiment, the said display part displays the image which shows the teaching content before the said change with the said changed teaching content.

  In one embodiment, the robot system further includes a teaching setting unit that sets the teaching content of the robot for the at least one workpiece.

  The workpiece manufacturing method according to the present invention includes a step of preparing at least one workpiece, a step of preparing a robot in which teaching content is set for the at least one workpiece, and the robot serving as the at least one workpiece. On the other hand, the method includes a step of producing a workpiece by performing work according to the teaching content, and a step of changing the teaching content set for the at least one workpiece based on the workpiece.

  According to the present embodiment, it is possible to provide a robot system and a workpiece manufacturing method in which the accuracy of work performed according to the teaching content is improved.

It is a typical top view of the robot system of this embodiment. It is a schematic diagram of the robot system of this embodiment. It is a flowchart for demonstrating the workpiece preparation method of this embodiment. It is a schematic diagram of the robot system of this embodiment. It is a schematic diagram of the robot system of this embodiment. It is a schematic diagram of the robot system of this embodiment. (A)-(c) is a schematic diagram which shows the display part in the robot system of this embodiment. It is a schematic diagram of the robot system of this embodiment. It is a schematic diagram of the robot system of this embodiment. It is a schematic diagram which shows an example of the workpiece | work performed in the robot system of this embodiment. (A) is a schematic diagram which shows the operation result before changing the content of teaching, (b) is a schematic diagram which shows the operation result after changing the content of teaching. (A) And (b) is a schematic diagram which shows the display part in the robot system of this embodiment.

  Hereinafter, embodiments of a robot system and a workpiece manufacturing method according to the present invention will be described with reference to the drawings. However, embodiments of the present invention are not limited to the following embodiments.

  FIG. 1 is a schematic top view of a robot system 100 according to the present embodiment. The robot system 100 includes a robot 10 and a teaching change unit 20. In the robot 10, teaching contents are set in advance for the workpiece W. The robot 10 performs work according to the set teaching content.

  Here, the workpiece W is conveyed to the robot 10 by the conveyor C. When the operation by the robot 10 is completed, the workpiece W is conveyed by the conveyor C in a direction away from the robot 10. Typically, the conveyor C transports a plurality of workpieces W, and the robot 10 performs work on the transported workpieces W, but the number of workpieces W transported by the conveyor C may be one.

  In the robot system 100 of the present embodiment, the teaching change unit 20 changes the teaching content for the workpiece W based on the result of the work performed by the robot 10. For example, a personal computer is used as the teaching change unit 20. For example, at least one of a keyboard, a mouse, and a touch panel may be used for input for changing the teaching content. As an example, the teaching change unit 20 changes the position where the robot 10 performs work on the workpiece W. In this specification, the teaching changing unit 20 may be simply referred to as the changing unit 20.

  After the change by the changing unit 20, the robot 10 performs work according to the changed teaching content for the workpiece W. In this way, by changing the teaching content for the workpiece W, the accuracy of the work performed on the workpiece W by the robot 10 can be improved.

  FIG. 2 is a schematic diagram illustrating an example of the robot system 100 according to the present embodiment. The robot 10 includes a robot arm 12 and an end effector 14. The robot arm 12 is composed of a plurality of arms. Typically, the robot arm 12 is an articulated arm robot including a plurality of actuators, and each actuator has a servo motor. The position and posture of the end effector 14 are controlled by driving each actuator of the robot arm 12. The end effector 14 is typically attached to the tip of the robot arm 12. The end effector 14 is configured to perform material injection or sealing, for example. Alternatively, the end effector 14 may be a welding torch.

  The robot system 100 illustrated in FIG. 2 includes a controller 16 that controls the robot 10 in addition to the robot 10 and the teaching change unit 20 described above. The controller 16 stores teaching contents, and the controller 16 controls the robot arm 12 and the end effector 14. Here, the teaching change unit 20 is connected to the controller 16, and the teaching change unit 20 changes the teaching content stored in the controller 16.

  For example, the controller 16 includes a storage device 16a that stores teaching contents (teaching data), and a processor 16b that controls the robot arm 12 and the end effector 14 in accordance with the teaching contents stored in the storage device 16a. The teaching change unit 20 changes (updates) the teaching content stored in the storage device 16a. For example, after a teaching change item is input in the teaching change unit 20, a file indicating the change item is transmitted to the storage device 16a, whereby the teaching content is changed.

  Such a robot system 100 is preferably used for machining. Hereinafter, with reference to FIG. 3, a method for manufacturing a workpiece according to the present embodiment will be described.

  First, in S302, a workpiece W is prepared. In S304, the robot 10 in which the teaching content is set for the workpiece W is prepared. Note that teaching content may be set in advance in the robot 10. Alternatively, the teaching content may be set in the robot 10 according to the prepared workpiece W.

  Next, in S306, the robot 10 produces a workpiece by performing an operation on the workpiece W according to the teaching content. In the robot 10 shown in FIG. 2, the end effector 14 is appropriately changed according to the work content.

  Next, in S308, the teaching content set for the workpiece W is changed based on the workpiece. The workpiece check may be performed using a robot or may be performed visually. Thereafter, the robot 10 performs work on the workpiece W according to the changed teaching content.

  The robot system 100 and the workpiece manufacturing method of this embodiment can be applied to various uses. For example, the robot system 100 may be used for material injection. As an example, a urethane foam molded product can be produced by injecting a urethane material into a mold having a predetermined shape and foaming urethane.

  Alternatively, the workpiece W may be directly processed using the robot system 100 and the workpiece manufacturing method. For example, the robot system 100 and the workpiece manufacturing method may be used to perform sealing, application of an undercoat before painting, and / or continuous welding such as multilayer deposition.

  In the robot system 100, the robot 10 preferably performs work on a plurality of workpieces W. In this case, while the robot 10 is working on a certain workpiece among the plurality of workpieces W, the teaching changing unit 20 changes the teaching content for another workpiece among the plurality of workpieces W.

  As shown in FIG. 4, the workpiece W <b> 1 of the plurality of workpieces W is first worked by the robot 10, and the workpiece W <b> 2 of the plurality of workpieces W is later worked by the robot 10. As described above, when the robot 10 performs the work on the work W2 after performing the work on the work W1, the changing unit 20 determines that the robot 10 performs the work before the robot 10 performs the work on the work W2. The teaching content for the workpiece W2 is changed based on the result of the work performed on W1. Thereby, the robot 10 can perform the work on the workpiece W with high accuracy without interrupting the work.

  In addition, you may perform a correction | amendment operation | work with another process with respect to the workpiece | work W with which the operation | work was performed by the robot 10 before changing the teaching content by the changing part 20. For example, when the robot 10 applies an undercoat to the workpiece W, the changing unit 20 changes the teaching content for the workpiece W to which the robot 10 will apply later based on the workpiece W with coating unevenness. While the application 10 is applied to the next workpiece W in accordance with the changed teaching content, a human or another robot may apply the undercoat again to the workpiece W having uneven application. In this way, the teaching content can be changed without interrupting the work in the robot system 100.

  Note that, as shown in FIG. 5, the workpiece W that is operated by the robot 10 may include a plurality of types. The teaching content is set according to the type of workpiece W.

  For example, the plurality of workpieces W include a workpiece Wa, a workpiece Wb of a type different from the workpiece Wa, and a workpiece Wc of the same type as the workpiece Wa, and the robot 10 performs a workpiece after performing work on the workpiece Wa. The work is performed on Wb, and the work is performed on the work Wc after the work is performed on the work Wb. Prior to the start of these operations, the teaching content for the workpiece Wb is set to be different from that for the workpiece Wa, and the teaching content for the workpiece Wc is set in the same manner as the workpiece Wa.

  In the robot system 100 illustrated in FIG. 5, after the work is performed on the work Wa, the changing unit 20 performs the work based on the result of the work on the work Wa before the robot 10 performs the work on the work Wc. Change teaching contents for workpiece Wc. In this way, the teaching content may be changed based on the work result for the work W that has been previously worked of the same type.

  In addition, when there are a plurality of types of workpieces W and a plurality of teaching contents are set in the robot 10, it is preferable that the workpieces W that are continuously worked by the robot 10 are of different types. In this case, it is preferable to change the teaching content based on the work result of the already-worked work after the work of a certain kind of work is performed and before the work of another work of the same kind is performed. . Thereby, the teaching content can be appropriately changed based on the result of the work already performed.

  It is preferable that the user of the robot system 100 can easily confirm the changed teaching content.

  FIG. 6 is a schematic diagram of the robot system 100 according to the present embodiment. The robot system 100 illustrated in FIG. 6 further includes a display unit 30 in addition to the robot 10 and the teaching change unit 20. The display unit 30 displays an image indicating the teaching content changed by the changing unit 20. It is more preferable that the display unit 30 displays an image showing the teaching content before the change together with the teaching content changed by the changing unit 20.

  Note that both the teaching change unit 20 and the display unit 30 may be realized using a personal computer. For example, the teaching change unit 20 may be realized by a central processing unit (CPU) of a personal computer, and the display unit 30 may be realized by a monitor of the personal computer.

  Hereinafter, an example of display by the display unit 30 in the robot system 100 of the present embodiment will be described. First, as shown in FIG. 7A, prior to changing the teaching content, the display unit 30 displays a job edit button 30a and a file transmission / reception button 30b.

  When the job edit button 30a is selected, a job edit screen 30a1 is displayed on the display unit 30 as shown in FIG. The job edit screen 30a1 is provided with a job edit area 30r1 for editing a job and a work coordinate input area 30r2 for inputting work coordinates. Here, for example, a position where the robot 10 performs work on the workpiece W is input to the work coordinate input area 30r2. When changing the work position on the job edit screen 30a1 shown in FIG. 7B, the display unit 30 inputs the changed work position on the job edit screen 30a1, and then displays the changed teaching contents. It is preferable to display.

  When the file transmission / reception button 30b is selected, a file transmission / reception screen 30b1 is displayed on the display unit 30, as shown in FIG. When the file transmission / reception button is selected on the file transmission / reception screen 30b1, a file including the edited job is transmitted. In this way, when the transmission of the edited job is completed, the teaching content stored in the storage device 16a of the controller 16 is changed (updated).

  The teaching content is set using a device different from the teaching changing unit 20.

  FIG. 8 is a schematic diagram of the robot system 100 of the present embodiment. The robot system 100 illustrated in FIG. 8 further includes a teaching setting unit 40 that sets the teaching content of the robot 10 for the workpiece W. The teaching setting unit 40 typically has a flat tablet shape and is also called a pendant or a program pendant.

  Setting of the teaching content of the robot 10 by the teaching setting unit 40 is performed inside the fence when the robot 10 is in an off state. Alternatively, the teaching content setting of the robot 10 by the teaching setting unit 40 may be performed offline on the computer without actually moving the robot 10. In this specification, the teaching setting unit 40 may be simply referred to as the setting unit 40.

  The setting unit 40 sets the teaching content, while the changing unit 20 changes the teaching content set by the setting unit 40. It is preferable that the changing unit 20 can change only a part of the settable range of teaching contents by the setting unit 40. For example, when setting the teaching content, the robot 10 can be set at an arbitrary position, but the changeable range of the teaching content by the changing unit 20 is within a predetermined range and is outside the predetermined range. When a change item is input, the change unit 20 may not allow the change item.

  In the above description, the robot system 100 includes one robot 10, but the present embodiment is not limited to this. The robot system 100 may include a plurality of robots 10 that perform similar operations. Further, the robot system 100 may include another robot that performs an operation different from the robot 10, and in this case, the changing unit 20 may change the teaching content of the operation performed by the robot.

  In the above description, the robot system 100 is provided with the conveyor C, and the conveyor C transports the workpiece W to the robot 10, but the present embodiment is not limited to this. The robot 10 may work on a different workpiece W by moving the robot 10 relative to the fixed workpiece W.

  The robot system 100 and the workpiece manufacturing method of the present embodiment are suitably used for manufacturing, for example, a urethane foam molded product. The foamed urethane molded product is suitably used for automobile seats. Typically, urethane foam is produced by mixing two or more liquids, and the volume increases several to several tens of times in a short time. In addition, urethane foam has a low density and can be easily handled because it is light even if its volume is relatively large.

  Hereinafter, with reference to FIGS. 9-12, preparation of the urethane foam molded product using this embodiment is demonstrated. FIG. 9 is a schematic diagram of the robot system 100 of the present embodiment. The robot system 100 illustrated in FIG. 9 includes a conveyor C that conveys the workpiece W, and the conveyor C rotates in an annular shape.

  As shown in FIG. 10, the workpiece W has an upper mold Ws and a lower mold Wt. The upper mold Ws is attached to the lower mold Wt so that it can be opened and closed. Here, a cavity is provided in the lower mold Wt, and when the upper mold Ws is closed to the lower mold Wt, a predetermined space is formed between the upper mold Ws and the lower mold Wt. .

  As shown in FIG. 9, a robot 10 is provided around the conveyor C. Here, the robot 10 injects the urethane material into the cavity of the lower mold Wt. Here, around the conveyor C, a mold opening robot 110a, a release agent coating robot 110b, a mold closing robot 110c, and a heating device 120 are provided. The conveyor C conveys the workpiece W in the order of the mold opening robot 110a, the release agent coating robot 110b, the robot 10, the mold closing robot 110c, and the heating device 120.

  In the robot system 100, the operation mode of the robot 10 (for example, the injection position and the injection amount of the urethane material) is set as the teaching content. When forming a foamed urethane molded product using a mold, if the amount of urethane material to be injected is excessive, the foamed urethane overflows from the mold and the material may be wasted. On the other hand, even if the amount of the urethane material to be injected is appropriate, a foamed urethane molded product having a desired shape may not be produced. On the other hand, according to the robot system 100 and the workpiece manufacturing method of the present embodiment, a foamed urethane molded product having a desired shape can be manufactured.

  As described above, the teaching content may be different depending on the type of the workpiece W. For example, the shape of an automobile seat differs depending on the front seat, rear seat, etc., and the teaching content set in the robot 10 differs depending on the shape of the foamed urethane molded product to be produced (for example, the shape of the seat). Also good.

  A urethane foam molded product is produced using the workpieces W conveyed by the conveyor C. First, the mold opening robot 110a opens the upper mold Ws. Next, the release agent application robot 110b applies the release agent to at least one of the upper mold Ws and the lower mold Wt.

  Thereafter, the robot 10 injects a urethane material into the lower mold Wt according to the teaching content. In the urethane material, a main agent and a curing agent are mixed. For example, the robot 10 injects the urethane material into the lower mold Wt so as to draw the locus shown in FIG.

  Next, the mold closing robot 110c closes the upper mold Ws with respect to the lower mold Wt. Thereafter, the heating device 120 heats the workpiece W into which the urethane material is injected, so that the urethane material is foamed and a urethane foam molded product is formed.

  Thereafter, the upper mold Ws is opened with respect to the lower mold Wt, and the urethane foam molded product is taken out. In the robot system 100 shown in FIG. 9, the teaching change unit 20 is disposed near a place where the urethane foam molded product is taken out. For example, the observer checks the foamed urethane molded product taken out and changes the teaching content using the teaching changing unit 20.

  Here, the teaching change unit 20 changes the injection position of the urethane material by the robot 10 two-dimensionally. For example, by changing the teaching content, the robot 10 changes the trajectory (injection pattern) for injecting the urethane material into the lower mold Wt so as to draw the trajectory shown in FIG. In this case, the position of the horizontal plane when the robot 10 injects the urethane material may be changed. In addition, you may change the quantity of the urethane material inject | poured from the robot 10 as needed. As described above, in the robot system 100 shown in FIG. 9, the teaching content is changed without interrupting the production of the urethane foam molded product (that is, without interrupting the conveyance of the plurality of workpieces W by the conveyor C). can do.

  Further, as described above, the robot system 100 preferably performs work on different types of workpieces W. As a result, it is possible to reduce an increase in the inventory of completed urethane foam molded products and to reduce the number of works that have been performed according to the teaching content before the change.

  The teaching content can be changed as described above. As described above, in the robot system 100, the display unit 30 preferably displays the changed teaching content.

  Hereinafter, the display by the display unit 30 will be described with reference to FIG. As described above, the display unit 30 displays the changed work position.

  For example, as shown in FIG. 12A, the display unit 30 may display the teaching content before the change in the region 30s1, and display the teaching content after the change in the region 30s2 different from the region 30s1. Or as shown in FIG.12 (b), the display part 30 may display the teaching content before a change with the teaching content after a change in the same area | region 30t. In this case, it is preferable that the teaching content after the change is displayed in a mode different from the teaching content before the change. For example, the teaching content after the change may be displayed with a solid line, whereas the teaching content before the change may be displayed with a broken line. Alternatively, the teaching content after the change may be displayed with a solid line, while the teaching content before the change may be displayed in black.

10 Robot 20 Teaching Change Unit 30 Display Unit 100 Robot System

Claims (12)

A robot that performs at least one workpiece according to the teaching content;
A robot system comprising: a teaching change unit that changes the teaching content for the at least one workpiece based on the result of the work.   The robot system according to claim 1, wherein the teaching change unit changes a position where the robot performs the work with respect to the at least one workpiece.   The robot system according to claim 1, wherein the at least one workpiece includes a plurality of workpieces.   The teaching change unit changes the teaching content for another workpiece of the plurality of workpieces while the robot is working on a workpiece of the plurality of workpieces. The robot system described. The plurality of workpieces include a first workpiece and a second workpiece,
The robot performs an operation on the second workpiece after performing an operation on the first workpiece,
The teaching changing unit changes the teaching content for the second work based on the result of the work performed on the first work by the robot before the robot performs the work on the second work. The robot system according to claim 3 or 4.   The robot system according to claim 3 or 4, wherein the plurality of workpieces include a plurality of types of workpieces. The plurality of workpieces include a first workpiece, a second workpiece of a type different from the first workpiece, and a third workpiece of the same type as the first workpiece,
The robot performs an operation on the second workpiece after performing an operation on the first workpiece, and then performs an operation on the third workpiece after performing an operation on the second workpiece. Done
The changing unit changes the teaching content for the third work based on the result of the work performed on the first work by the robot before the robot performs the work on the third work. The robot system according to claim 6.   The robot system according to claim 1, further comprising a conveyor that conveys the at least one workpiece.   The robot system according to claim 1, further comprising a display unit that displays an image indicating the changed teaching content.   The robot system according to claim 9, wherein the display unit displays an image indicating the teaching content before the change together with the changed teaching content.   11. The robot system according to claim 1, further comprising a teaching setting unit configured to set teaching contents of the robot for the at least one workpiece. Preparing at least one workpiece;
Preparing a robot in which teaching content is set for the at least one workpiece;
The robot creates a workpiece by performing an operation according to the teaching content on the at least one workpiece;
And a step of changing the teaching content set for the at least one workpiece based on the workpiece.

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