WO2014115244A1

WO2014115244A1 - Robot system

Info

Publication number: WO2014115244A1
Application number: PCT/JP2013/051199
Authority: WO
Inventors: 高巳長崎; 孝志椎野; 原田　敏行
Original assignee: 株式会社安川電機
Priority date: 2013-01-22
Filing date: 2013-01-22
Publication date: 2014-07-31
Also published as: JPWO2014115244A1; JP5999198B2

Abstract

A robot system (1) in one embodiment of the present invention is equipped with a robot (20), an instruction unit (101b), and an orientation holding mechanism (HU). The robot (20) has a robot hand (21) disposed so as to be able to hold a prescribed component. The instruction unit (101b) instructs the robot (20) to temporarily attach the abovementioned component to a workpiece using the robot hand (21), and to continue holding the component with the robot hand (21). The orientation holding mechanism (HU) holds the component in a prescribed orientation by engaging with the component. The instruction unit (101b) instructs the orientation holding mechanism (HU) to engage with the component, which was temporarily attached by the robot (20) and is being held by the robot hand (21), and instructs the robot (20) to release the holding of the component by the robot hand (21) once the orientation holding mechanism (HU) has engaged with the component.

Description

Robot system

The disclosed embodiment relates to a robot system.

Conventionally, various robot systems have been proposed for improving the efficiency of a production line by causing a robot to perform a predetermined machining operation on a workpiece that has been performed by a person on the production line of the processed product.

Here, as the predetermined processing operation, for example, a mounting operation for mounting an electronic component on a circuit board (hereinafter simply referred to as “substrate”) can be cited. In such a mounting operation, an operation of positioning and temporarily assembling the electronic component is performed in a pre-soldering process (see, for example, Patent Document 1).

Specifically, the “surface mounting method of an electronic component” disclosed in Patent Document 1 includes a bond coating process in which a bond is applied to a predetermined location on a substrate on which the electronic component is mounted. The parts are temporarily assembled.

Japanese Patent Laid-Open No. 11-354995

However, the above-described conventional technology has room for further improvement in that the parts are mounted on the workpiece efficiently and with high quality.

For example, in the above-described prior art, it is necessary to apply a bond to a predetermined place on a substrate on which an electronic component is mounted. However, this is inefficient when the number of electronic components is large, and a production line for processed products. There is a risk of lowering productivity.

Also, electronic parts have extremely diverse shapes. For example, some large capacitors are tall and have an unstable shape that tends to tilt in the state before soldering even if the leads are inserted into the substrate.

In order to keep the posture of such electronic parts with high quality, a viscous bonding agent such as a bond may be inclined and is insufficient. In this regard, it is conceivable to maintain the posture of the electronic component using a member such as a jig, but it is still inefficient if the jig is set manually by a human.

One aspect of the embodiment has been made in view of the above, and an object of the present invention is to provide a robot system that can mount components on a workpiece efficiently and with high quality.

A robot system according to an aspect of the embodiment includes a robot, an instruction unit, and a posture holding mechanism. The robot has a robot hand provided so as to hold predetermined parts. The instructing unit instructs the robot to temporarily assemble the component on a workpiece using the robot hand and keep the component held by the robot hand. The posture holding mechanism holds the component in a predetermined posture by engaging with the component. The instructing unit instructs the posture holding mechanism to engage with the component temporarily assembled by the robot and held by the robot hand, and the posture holding mechanism is engaged with the component. If they match, the robot hand is instructed to unlock the parts.

According to one aspect of the embodiment, it is possible to mount components on a workpiece efficiently and with high quality.

FIG. 1 is a schematic plan view illustrating a configuration of a robot system according to the embodiment. FIG. 2A is a schematic plan view showing the configuration of the pallet. 2B is a schematic cross-sectional view taken along line A-A ′ shown in FIG. 2A. 2C is a schematic cross-sectional view taken along line B-B ′ shown in FIG. 2A. FIG. 3 is a block diagram of the robot system according to the embodiment. FIG. 4A is a schematic side sectional view showing the configuration of the transport unit. FIG. 4B is a schematic plan view illustrating the configuration and operation of the transport unit. FIG. 4C is a schematic side sectional view showing the configuration and operation of the transport unit. FIG. 5 is a schematic side view showing the configuration of the robot. FIG. 6A is a schematic perspective view illustrating a configuration of a hand. FIG. 6B is a schematic side view illustrating the configuration of the hand. FIG. 7A is a schematic perspective view (No. 1) showing a configuration of a jig. FIG. 7B is a schematic perspective view (No. 2) showing the configuration of the jig. FIG. 8A is an explanatory diagram (part 1) of the temporary assembly operation. FIG. 8B is an explanatory diagram (part 2) of the temporary assembly operation. FIG. 8C is an explanatory diagram (part 3) of the temporary assembly operation. FIG. 9A is a schematic plan view showing a pallet according to a modification. FIG. 9B is a schematic plan view illustrating a configuration of a robot system according to another embodiment.

Hereinafter, embodiments of a robot system disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

In the following, the workpiece is an electronic device board, and when mounting electronic parts such as capacitors on such a board, a robot system that temporarily assembles the electronic parts on the board prior to the soldering process is taken as an example. Give a description.

In the following description, the electronic component is described as “work”, and if the type is different, the sign of [W + number] is given as the work W1, W2,. In addition, when referring to the entire workpiece regardless of the type, the symbol “W” alone is attached.

In the following, “robot hand” which is an end effector provided in the terminal movable part of the robot is simply referred to as “hand”.

FIG. 1 is a schematic plan view showing the overall configuration of the robot system 1 according to the embodiment. FIG. 1 shows a three-dimensional orthogonal coordinate system including the Z axis with the vertical upward direction as the positive direction for easy understanding. Such an orthogonal coordinate system may be shown in other drawings used in the following description.

Also, in the following, for a component composed of a plurality of components, only a part of the plurality of components may be provided with a reference numeral, and the provision of a reference numeral may be omitted for the others. In such a case, it is assumed that a part with the reference numeral and the other have the same configuration.

As shown in FIG. 1, the robot system 1 includes a cell 2 that forms a substantially rectangular parallelepiped work space. In addition, the robot system 1 includes a transfer unit 10, a robot 20,

trays

30 and 40, a temporary placement table 50, a light 60, a camera 70, and a pressing unit 80 inside the cell 2.

In addition, the robot system 1 includes a control device 100 outside the cell 2. The control device 100 is connected to various devices such as the transport unit 10, the robot 20, and the pressing unit 80 so as to be able to transmit information.

Here, the control device 100 is a controller that controls the operation of various connected devices, and includes various control devices, arithmetic processing devices, storage devices, and the like. Details of the control device 100 will be described later with reference to FIG.

In FIG. 1, the control device 100 with one housing is shown, but the present invention is not limited to this. For example, the control device 100 includes a plurality of housings associated with various devices to be controlled. Also good. Further, it may be disposed inside the cell 2.

The transport unit 10 includes a pair of guide units 11 disposed substantially in parallel along the transport direction in the figure, and moves in the X-axis direction in the figure between the pair of guide units 11. It is a unit that conveys the pallet P while regulating.

Here, the pallet P will be described with reference to FIGS. 2A to 2C. FIG. 2A is a schematic plan view showing the configuration of the pallet P. FIG. 2B is a schematic cross-sectional view taken along line A-A ′ shown in FIG. 2A. 2C is a schematic cross-sectional view taken along line B-B ′ shown in FIG. 2A.

The pallet P is a loading platform on which the substrate CB is loaded when the substrate CB which is a workpiece is transported. As shown in FIG. 2A, the substrate CB is set at the center of the pallet P. Although not shown, the pallet P has a fixing member for the substrate CB on the main surface, and the substrate CB is fixed to the pallet P by the fixing member while being loaded on the pallet P. .

As shown in FIG. 2A, insertion holes for leads Ld of the workpieces W are formed in advance at the mounting positions of the workpieces W on the substrate CB. In this embodiment, as shown in FIG. 2A, it is assumed that an insertion hole H1 for the lead Ld of the workpiece W1 and an insertion hole H2 for the lead Ld of the workpiece W2 are formed.

Further, as shown in FIG. 2B or 2C, the central portion of the pallet P is opened with a size slightly smaller than the substrate CB, and the lower surface of the substrate CB is exposed downward with the substrate CB set. .

Here, as shown in FIG. 2B, it is assumed that the workpiece W1 is a relatively short electronic component. In such a case, it can be said that the workpiece W1 has a stable shape in which the posture is not easily tilted. Therefore, it is only necessary to insert the lead Ld into the insertion hole H1 for the temporary assembly.

However, it can be said that when the electronic component is relatively tall like the workpiece W2 shown in FIG. 2C, the posture is unstable. Therefore, if the lead Ld is merely inserted into the insertion hole H2, the posture may be tilted due to wobbling or the like during transportation or when immersed in the solder bath in the soldering process (see arrow 201 in the figure). ).

In the present embodiment, the posture of an electronic component having an unstable shape such as the workpiece W2 is to be maintained efficiently and with high quality. Therefore, as shown in FIG. 2A, in this embodiment, the jig 90 is provided on the pallet P so as to be provided alongside the mounting position of the workpiece W2 on the substrate CB.

The jig 90, together with the pressing unit 80 described above, constitutes a posture holding mechanism HU (see FIG. 3) for the workpiece W2. Details of the configuration and operation of the jig 90 will be described later with reference to FIGS. 7A to 8C.

In this embodiment, the description of the workpiece W is continued assuming that the workpieces W1 and W2 shown in FIGS. 2A to 2C are temporarily assembled.

Referring back to FIG. 1, the conveyance unit 10 will be described. As shown in FIG. 1, the transport unit 10 includes a set of fixed support units 12 at a position that overlaps the pallet P in plan view when the pallet P reaches the work position wp.

Further, the transport unit 10 has a movable support unit 13 provided so as to be movable up and down between the pair of guide units 11. The fixed support portion 12 and the movable support portion 13 function as a positioning mechanism for the pallet P. Details thereof will be described later with reference to FIGS. 4A to 4C together with the configuration of the transport unit 10.

Further, the transport unit 10 transports the substrate CB after the temporary assembly of the workpieces W1 and W2 together with the pallet P to the next soldering step (for example, to a solder bath).

The robot 20 is a single-arm manipulator that receives a motion instruction from the control device 100 and performs a temporary assembly operation of temporarily assembling the workpiece W on the substrate CB, and moves the end of an arm (hereinafter referred to as “arm”). The hand is provided with a hand 21. The hand 21 includes a gripping claw (described later) that grips the workpiece W.

The details of the configuration and operation of the robot 20 will be described later with reference to FIGS. 5 to 6B and FIGS. 8A to 8C.

The

trays

30 and 40 are containers that accommodate the workpieces W1 and W2, respectively. The temporary placement table 50 is a temporary work table on which the robot 20 temporarily places the workpieces W1 and W2 taken out from the

trays

30 and 40.

The temporary placement on the temporary placement table 50 prevents the gripping accuracy of the robot 20 from being lowered when the

trays

30 and 40 are made of a soft plastic material that also prevents damage to the workpieces W1 and W2. can do. That is, it is possible to contribute to mounting components on a workpiece with high quality.

The light 60 is an illuminating member arranged in the direction of illuminating from below. The camera 70 is provided in the vicinity of the hand 21, for example, and appropriately captures an image of the workpiece W gripped by a gripping claw (described later) while illuminating with a light 60 according to an instruction from the control device 100, and captures image data. Hand over to 100. The camera 70 may be provided on the ceiling of the cell 2 or the like.

As shown by an arc-shaped arrow in FIG. 1, the robot 20 holds the workpiece while turning around the S axis (described later) between the tray 30, the tray 40, the temporary table 50, and the transport unit 10. Transport W.

The pressing portion 80 is configured by an air cylinder or the like, and includes a protruding portion 80a and a main body portion 80b. The pressing unit 80 is provided in advance at a position where a predetermined part of the jig 90 (see FIG. 2A) can be pressed when the pallet P reaches the work position wp of the robot 20. Details of the operation of the pressing unit 80 will be described later with reference to FIGS. 8A to 8C.

Next, the block configuration of the robot system 1 according to the embodiment will be described with reference to FIG. FIG. 3 is a block diagram of the robot system 1 according to the embodiment. In FIG. 3, only components necessary for the description of the robot system 1 are shown, and descriptions of general components are omitted.

In the description using FIG. 3, the internal configuration of the control device 100 will be mainly described, and the description of the various devices already shown in FIG. 1 may be simplified.

As shown in FIG. 3, the robot system 1 includes a transport unit 10, a robot 20, a camera 70, a pressing unit 80, a jig 90, and a control device 100. The pressing unit 80 and the jig 90 constitute a posture holding mechanism HU.

In addition, the control device 100 includes a control unit 101 and a storage unit 102. The control unit 101 further includes a work information acquisition unit 101a and an instruction unit 101b. The storage unit 102 stores workpiece identification information 102a and workpiece-specific teaching information 102b.

The control unit 101 performs overall control of the control device 100. The workpiece information acquisition unit 101a receives imaging data of the workpiece W from the camera 70, matches the received imaging data with the workpiece identification information 102a, and identifies the type of workpiece W.

Here, the workpiece identification information 102a is information for identifying the type of the workpiece W, such as the shape and dimensions of the workpiece W, the position and number of the leads Ld that the workpiece W has. Such work identification information 102a is registered in the storage unit 102 in advance.

The camera 70 is provided in the vicinity of the hand 21 as described above, and images the workpiece W based on an instruction from the instruction unit 101b.

The work information acquisition unit 101a also acquires the state of the work W such as the presence / absence of an abnormality based on the imaging data of the camera 70, and notifies the instruction unit 101b as the work information together with the type of the identified work W.

The instruction unit 101b generates instruction signals for operating various devices such as the transport unit 10, the robot 20, the camera 70, and the posture holding mechanism HU based on the notified workpiece information and workpiece-specific teaching information 102b, and directs them to the various devices. Output.

The workpiece-specific teaching information 102b is information including teaching data for various devices of the robot system 1, and is registered in advance through an input device (not shown) (for example, a programming pendant). The teaching data includes a mode of a temporary assembly operation of the workpiece W applied to the substrate CB (specifically, information such as which workpiece W is provisionally assembled at which mounting position and the jig 90 is used for the workpiece W at which mounting position). Etc.).

Here, the configuration and operation of various devices that operate based on instructions from the instruction unit 101b will be described in detail. First, the configuration and operation of the transport unit 10 will be described with reference to FIGS. 4A to 4C.

FIG. 4A is a schematic side sectional view showing the configuration of the transport unit 10. 4A is a side cross-sectional view of the transport unit 10 cut along the XZ plane together with the pallet P and the substrate CB in a state where the pallet P has not reached the work position wp. Further, FIG. 4A shows a case when viewed from the positive direction of the Y axis, but may be regarded as a case when viewed from the negative direction of the Y axis.

FIG. 4B is a schematic plan view showing the configuration and operation of the transport unit 10. FIG. 4C is a schematic side sectional view showing the configuration and operation of the transport unit 10.

4C is a side cross-sectional view of the transport unit 10 cut along the XZ plane together with the fixed support unit 12, the pallet P, and the substrate CB in a state where the pallet P has reached the work position wp. Also, FIG. 4C may be regarded as the case viewed from the negative direction of the Y-axis as in FIG. 4A.

As shown in FIG. 4A, the transport unit 10 includes a pair of guide units 11 disposed substantially in parallel along the transport direction (that is, the Y-axis direction in the drawing).

Each of the guide portions 11 includes a conveyor portion 14 that includes a roller 14a that rotates about a rotation axis R1 that is substantially parallel to the X axis in the drawing, and a belt 14b that is stretched around the roller 14a. It is attached. The pallet P is placed on the conveyor unit 14 and conveyed.

As shown in FIG. 4A, the transport unit 10 may provide a gap i (for example, about 0.3 mm) within a predetermined range larger than 0 between the pallet P and the guide part 11, or the gap i You may comprise the conveyor part 14 so that the pallet P can slide without providing.

Further, as shown in FIG. 4B, the transport unit 10 has a pair of fixed support portions 12 at a position overlapping the pallet P in plan view when the pallet P reaches the work position wp. As shown in FIG. 4C, the fixed support portion 12 has a shape that can be fitted to the pallet P from above, and is fixed to the guide portion 11.

Further, as shown in FIGS. 4B and 4C, the transport unit 10 includes a movable support unit 13 that can be moved up and down between a pair of guide units 11.

And the instruction | indication part 101b (refer FIG. 3) instruct | indicates the operation | movement shown below with respect to the conveyance part 10. FIG. That is, as shown in FIG. 4B, the instruction unit 101b regulates the pallet P within the region between the pair of guide units 11 with respect to the transport unit 10 until the pallet P reaches the work position wp. The pallet P is instructed to be conveyed along the conveying direction indicated by the arrow 401.

In addition, when the pallet P reaches the work position wp, the instruction unit 101b presses the pallet P against the fixed support unit 12 from below by ascending against the movable support unit 13 as shown in FIG. 4C ( An instruction is given to fit the pallet P and the fixed support 12 together (see arrow 402 in the figure).

As a result, the pallet P and the substrate CB set on the pallet P and the substrate CB set on the pallet P can be reliably fixed and positioned with high accuracy at the work position wp. it can.

Next, the configuration of the robot 20 will be described with reference to FIGS. 5 to 6B. First, FIG. 5 is a schematic side view showing the configuration of the robot 20.

As shown in FIG. 5, the robot 20 is a single arm type multi-axis robot. Specifically, the robot 20 includes a first arm part 23, a second arm part 24, a third arm part 25, a fourth arm part 26, and a base part 27.

The first arm portion 23 is supported at the base end portion by the second arm portion 24. The second arm portion 24 is supported at the base end portion by the third arm portion 25 and supports the first arm portion 23 at the distal end portion.

The third arm portion 25 is supported at the base end portion by the fourth arm portion 26 and supports the second arm portion 24 at the tip end portion. The fourth arm portion 26 is supported at the base end portion by a base portion 27 fixed to the floor surface of the work space, and supports the third arm portion 25 at the tip end portion.

In addition, actuators are mounted on joints (not shown), which are connecting portions of the first arm part 23 to the base part 27, and the robot 20 controls the actuators controlled by the instruction part 101b. Multi-axis operation is performed by driving.

Specifically, the joint actuator that connects the first arm portion 23 and the second arm portion 24 rotates the first arm portion 23 about the B-axis. Further, the actuator of the joint portion that connects the second arm portion 24 and the third arm portion 25 rotates the second arm portion 24 around the U axis.

Also, the joint actuator that connects the third arm part 25 and the fourth arm part 26 rotates the third arm part 25 around the L axis.

Further, the joint actuator that connects the fourth arm part 26 and the base part 27 rotates the fourth arm part 26 around the S axis.

Also, the robot 20 includes individual actuators that rotate the first arm portion 23 around the T axis and the second arm portion 24 around the R axis. That is, the robot 20 has six axes.

Note that the distal end portion of the first arm portion 23 is a terminal movable portion of the robot 20, and the hand 21 is attached to the terminal movable portion. Next, the hand 21 will be described.

FIG. 6A is a schematic perspective view illustrating the configuration of the hand 21. FIG. 6B is a schematic side view showing the configuration of the hand 21.

As shown in FIG. 6A, the hand 21 includes a pair of gripping claws 21a provided to be openable and closable. The robot 20 grips the workpiece W by closing and pinching the pair of gripping claws 21a with the workpiece W interposed between the pair of gripping claws 21a.

Further, the robot 20 releases the grip of the workpiece W by opening the pair of grip claws 21a from the state of gripping the workpiece W. FIG. 6A shows a state where the pair of gripping claws 21a are open.

Further, as shown in FIG. 6B, the robot 20 further includes a pair of gripping claws 21b having a shape and a gripping width different from the pair of gripping claws 21a, and a rotating portion 21c.

The pair of gripping claws 21b is a mechanism for gripping a workpiece W (for example, the workpiece W2 with respect to the workpiece W2) of a different type from the workpiece W that is the gripping target of the pair of gripping claws 21a.

The gripping claws 21a and the gripping claws 21b are provided so as to be switchable by rotating around the rotation axis R2 (see arrow 601 in the figure). The rotating unit 21 c switches between the gripping claws 21 a and the gripping claws 21 b according to the workpiece W to be gripped by the hand 21.

In FIG. 6B, two types of gripping claws 21a and gripping claws 21b of different types are shown, but the number and types of gripping claws provided in the hand 21 are not limited.

Next, the configuration of the jig 90 included in the posture holding mechanism HU will be described with reference to FIGS. 7A and 7B. FIG. 7A is a schematic perspective view (No. 1) showing the configuration of the jig 90. FIG. 7B is a schematic perspective view (No. 2) showing the configuration of the jig 90.

As shown in FIG. 7A, the jig 90 includes an engaging portion 90a, a pressed portion 90b, and a base portion 90c, and a pallet so as to be provided side by side with a mounting position of an electronic component (here, a workpiece W2) on the substrate CB. Provided on P.

The jig 90 is provided to be rotatable around a rotation axis R3 substantially parallel to the plane direction of the substrate CB (see an arrow 701 in the drawing), and rotates toward the workpiece W2 by pressing a predetermined portion. . In the present embodiment, the predetermined part is the pressed part 90b.

Here, although not shown in FIG. 7A, the above-described pressing unit 80 is in advance at a position where the pressed portion 90 b of the jig 90 can be pressed when the pallet P reaches the work position wp of the robot 20. Is provided.

Then, as shown in FIG. 7B, the jig 90 rotates around the rotation axis R3 toward the workpiece W2 when the pressed portion 90 is pressed by the pressing portion 80 (see the arrow 702 in the drawing), and the workpiece W2 Is engaged with the workpiece W2.

This allows the workpiece W2 having a tall and unstable shape to be pressed from above, so that the posture of the workpiece W2 can be kept straight without being tilted with a gravity action. That is, the electronic component can be mounted on the board with high quality.

Note that the term “engagement” as used herein means “engagement” widely, and includes “fitting” in which the shapes fit together, mere “contact”, and the like. Therefore, the portions where the engaging portion 90a and the workpiece W2 come into contact with each other may be formed so that they can be “fitted” with each other. A groove or the like may be cut in the contact surface of the portion 90a.

Next, regarding the temporary assembly operation of the robot system 1 performed based on the instruction of the instruction unit 101b after the pallet P has reached the work position wp and is fixed between the fixed support unit 12 and the movable support unit 13, This will be described with reference to FIGS. 8A to 8C. Here, it is assumed that the workpiece W2 is temporarily assembled using the gripping claws 21a of the hand 21.

8A to 8C are explanatory diagrams (part 1) to (part 3) of the temporary assembly operation. As shown in FIG. 8A, the instruction unit 101b instructs the robot 20 to use the hand 21 to transfer the workpiece W2 from the temporary placement table 50 (see FIG. 1) to a predetermined mounting position mp on the substrate CB. (See arrow 801 in FIG. 8A).

In addition, after performing the transfer, the instruction unit 101b instructs the robot 20 to insert the lead Ld of the workpiece W2 into the insertion hole H2 of the substrate CB and keep the workpiece W2 held by the hand 21. (See arrow 802 in the figure).

At this time, the instruction unit 101b makes the pressing unit 80 stand by with the protruding portion 80a retracted. Further, the jig 90 is in a standby posture that is not engaged with the workpiece W2.

Then, as shown in FIG. 8B, the instruction unit 101b instructs the posture holding mechanism HU to engage the workpiece W2 temporarily assembled by the robot 20 at the mounting position mp and held by the hand 21.

Specifically, the instruction unit 101b causes the pressing unit 80 to protrude the protruding portion 80a and press the pressed portion 90b of the jig 90 (see arrow 803 in the drawing). Thereby, the jig 90 rotates around the rotation axis R3 toward the workpiece W2, and engages the engaging portion 90a with the workpiece W2 (see an arrow 804 in the figure).

And as shown to FIG. 8C, the instruction | indication part 101b draws the protrusion part 80a in the press part 80 (refer arrow 805 in a figure). In addition, when the engaging portion 90a is engaged with the work W2, the instruction unit 101b instructs the robot 20 to release the holding of the work W2 by the gripping claws 21a (see an arrow 806 in the drawing).

Thereby, the workpiece W2 is always held by the hand 21 or the posture holding mechanism HU even though it is in an unstable shape, so that the posture is not tilted. That is, the electronic component can be mounted on the board with high quality.

Further, since the robot system 1 automatically holds the posture of the workpiece W2 by linking the robot 20 and the posture holding mechanism HU without using human manual work, the electronic component is efficiently mounted on the board. be able to.

Returning to the description of FIG. 3, the storage unit 102 of the control device 100 will be described. The storage unit 102 is a storage device such as a hard disk drive or a nonvolatile memory, and stores work identification information 102a and work-specific teaching information 102b. Since the contents of the workpiece identification information 102a and the workpiece-specific teaching information 102b have already been described, description thereof is omitted here.

Further, each component shown in FIG. 3 may not be arranged in the control device 100 alone. For example, the throughput may be improved by storing either or all of the workpiece identification information 102a and the workpiece-specific teaching information 102b stored in the storage unit 102 in the internal memory of the robot 20.

As described above, the robot system according to the embodiment includes a robot, an instruction unit, and a posture holding mechanism. The robot has a hand (robot hand) provided so as to hold a predetermined part.

The instruction unit instructs the robot to temporarily assemble the above parts on the workpiece using the hand and keep the parts held by the hand. The posture holding mechanism holds the component in a predetermined posture by engaging with the component.

The instruction unit instructs the posture holding mechanism to engage the component temporarily assembled by the robot and held by the hand, and if the posture holding mechanism is engaged with the component, The robot is instructed to release the above-mentioned holding of the parts.

Therefore, according to the robot system according to the embodiment, it is possible to mount components on a workpiece efficiently and with high quality.

By the way, in the above-described embodiment, the case where one substrate is set on one pallet has been described as an example. However, a plurality of substrates may be set on one pallet. Such a modification is shown in FIG. 9A.

FIG. 9A is a schematic plan view showing a pallet P ′ according to a modification. As shown in FIG. 9A, for example, the pallet P ′ can be configured to be able to set two substrates CB. In such a case, jigs 90 corresponding to the respective substrates CB are provided on the pallet P ′.

Then, two CBs are simultaneously conveyed by one pallet P ′, and the work work time can be shortened by causing the robot to sequentially assemble the workpieces W at predetermined work positions. . That is, it is possible to mount components on a workpiece with higher efficiency and higher quality.

(Other embodiments)
In this regard, the robot system may include a plurality of robots. FIG. 9B is a schematic plan view showing a configuration of a robot system 1 ′ according to another embodiment. Note that FIG. 9B corresponds to FIG. 1, and description of points that are duplicated will be omitted.

As shown in FIG. 9B, the robot system 1 ′ can include, for example, two

robots

20 and 20 ′ along the transport direction of the transport unit 10.

In such a case, even if the number of electronic components is large and the shapes thereof are various, the robot 20 and the robot 20 ′ are provided with different hands, and the different electronic components are temporarily assembled. Thus, the process work time can be shortened. That is, it is possible to mount components on a workpiece with higher efficiency and higher quality.

Further, by using the pallet P ′ shown in FIG. 9A in such other embodiments, further efficiency can be achieved.

Further, in each of the above-described embodiments, the case where the pressing unit rotates the jig is illustrated, but the method of operating the jig is not limited. For example, the jig may have a drive source that autonomously drives and may rotate.

Further, when there are a plurality of robots (see FIG. 9B), for example, one robot may serve as a pressing portion. For example, in the example of FIG. 9B, if the robot 20 ′ is performing a temporary assembly operation, the robot 20 may move the jig of the posture holding mechanism instead of the pressing unit 80.

Further, in each of the above-described embodiments, the case in which the workpiece is a substrate for electronic equipment and the workpiece is an electronic component mounted on the workpiece is described as an example, but the present invention is not limited to this. That is, as long as the work can be mounted on the workpiece by a workpiece that can be held by the hand, the type and shape of the workpiece and the workpiece are not questioned.

In the above-described embodiment, the single-arm robot is exemplified, but the present invention is not limited to this, and a multi-arm robot having two or more arms may be used.

In the above-described embodiment, a multi-axis robot having six axes is exemplified, but the number of axes is not limited.

Further, in the above-described embodiment, the case where the gripping claws of the hand are a pair has been described as an example. However, the present invention is not limited to this, and a pair of gripping claws may be used.

In the above-described embodiment, the case where the workpiece is held by gripping with the gripping claw is described as an example, but the method for holding the workpiece is not limited. For example, the hand may hold the work by suction.

Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1, 1 'Robot system 2 Cell 10 Conveyance part 11 Guide part 12 Fixed support part 13 Movable support part 14 Conveyor part 14a Roller 14b Belt 20, 20' Robot 21 Hand

21a Grasp claw

21b Grasp claw

21c Rotation part 23 1st arm part 24 Second Arm Part 25 Third Arm Part 26 Fourth Arm Part 27 Base Part 30 Tray 40 Tray 50 Temporary Placement 60 Light 70 Camera 80 Pressing Part 80a Protruding Part 80b Main Body Part 90 Jig 90a Engaging Part 90b Pressed Part 90c Base 100 Control device 101 Control unit 101a Work information acquisition unit 101b Instruction unit 102 Storage unit 102a Work identification information 102b Work piece teaching information CB Substrate H1, H2 Insertion hole HU Posture holding mechanism Ld Lead P, P ' Preparative R1 ~ R3 rotation axis W, W1, W2 workpiece i gap mp mounting position wp work position

Claims

A robot having a robot hand provided so as to hold a predetermined part;
An instruction unit for instructing the robot to perform an operation of temporarily assembling the component into a workpiece using the robot hand and holding the component with the robot hand;
A posture holding mechanism that holds the component in a predetermined posture by engaging with the component;
The instruction unit includes:
When the robot temporarily assembles and instructs the posture holding mechanism to engage with the component that is held by the robot hand, and the posture holding mechanism is engaged with the component, the robot A robot system that instructs the robot to release the holding of the component by a hand.
The posture holding mechanism is
A jig that is rotatably provided around a predetermined rotation axis and rotates toward the component by pressing a predetermined part;
The robot system according to claim 1, further comprising: a pressing unit that presses a predetermined part of the jig based on an instruction from the instruction unit.
The workpiece is a substrate,
The substrate is
It is transported to the working position of the robot while being set on a pallet,
The jig is
Provided on the pallet so as to be in parallel with the mounting position of the component on the substrate,
The pressing portion is
The robot system according to claim 2, wherein the robot system is provided in advance at a position where a predetermined portion of the jig can be pressed when the pallet reaches the work position of the robot.
A pair of guide portions disposed substantially in parallel along a predetermined transport direction;
A conveyor section that is provided along the pair of guide sections and conveys the pallet to a working position of the robot;
A fixed support portion that has a shape that can be fitted to the pallet from above, and is fixed to the pair of guide portions;
A movable support portion provided so as to be movable up and down between the pair of guide portions;
The instruction unit includes:
When the pallet reaches the working position of the robot, the pallet is pressed against the fixed support portion from below by being raised, and the operation of fitting the pallet and the fixed support portion to the movable support portion is performed. The robot system according to claim 3, wherein the robot system is instructed.
The jig is
It has the said rotation axis substantially parallel to the plane direction of the said board | substrate, and has the shape engaged with this component from the upper direction of the said component by rotating around this rotation axis by being pressed by the said press part. The robot system according to claim 3 or 4, characterized in that: