WO2019176611A1 - Système de ligne de production et unité de base - Google Patents

Système de ligne de production et unité de base Download PDF

Info

Publication number
WO2019176611A1
WO2019176611A1 PCT/JP2019/008293 JP2019008293W WO2019176611A1 WO 2019176611 A1 WO2019176611 A1 WO 2019176611A1 JP 2019008293 W JP2019008293 W JP 2019008293W WO 2019176611 A1 WO2019176611 A1 WO 2019176611A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
robot arm
workpiece
production line
base unit
Prior art date
Application number
PCT/JP2019/008293
Other languages
English (en)
Japanese (ja)
Inventor
晃司 市川
友山　進一
啓介 吹田
康平 喜多村
Original Assignee
日本電産株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電産株式会社 filed Critical 日本電産株式会社
Publication of WO2019176611A1 publication Critical patent/WO2019176611A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q37/00—Metal-working machines, or constructional combinations thereof, built-up from units designed so that at least some of the units can form parts of different machines or combinations; Units therefor in so far as the feature of interchangeability is important
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B23Q41/02—Features relating to transfer of work between machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a production line system and a base unit.
  • the production system of Patent Document 1 includes a plurality of work units arranged in a straight line and a transport unit arranged between adjacent work units. Caster wheels and telescopic legs are provided at the lower part of the frame of the work unit. The telescopic legs of the work unit are installed and fixed on the bottom surface in the stretched state. Similarly, the support frame of the transport unit is provided with extendable legs. The telescopic legs of the transport unit are installed and fixed to the bottom surface in a stretched state. For example, when replacing a work unit, an operator shortens the telescopic leg of the work unit to be replaced, contacts the caster wheel with the floor, and manually moves the work unit to be replaced.
  • This invention is made
  • the objective is to provide the production line system which can change a production line easily, and a base unit.
  • the exemplary production line system of the present invention comprises a plurality of base units.
  • the plurality of base units are arranged along a production line direction that is a direction in which a workpiece to be worked is conveyed.
  • the base unit includes a table unit, a robot arm unit, and a traveling unit.
  • the table section includes at least one table that supports the workpiece.
  • the robot arm unit performs a predetermined operation on the workpiece.
  • the traveling unit moves the table unit and the robot arm unit.
  • the robot arm unit transports the work after the predetermined work is performed to the downstream side in the production line direction.
  • An exemplary base unit of the present invention includes a table unit, a robot arm unit, and a traveling unit.
  • the table section includes at least one table that supports a work to be worked.
  • the robot arm unit performs a predetermined operation on the workpiece.
  • the traveling unit moves the table unit and the robot arm unit.
  • the robot arm unit transports the workpiece after performing the predetermined operation to the downstream side in the production line direction, which is a direction in which the workpiece is transported.
  • the production line can be easily changed.
  • FIG. 1 is a diagram showing a production line system in Embodiment 1 of the present invention.
  • FIG. 2 is a diagram illustrating the base unit according to the first embodiment of the present invention.
  • FIG. 3 is a plan view showing the base unit according to the first embodiment of the present invention.
  • FIG. 4 is a block diagram showing the configuration of the base unit in Embodiment 1 of the present invention.
  • FIG. 5 is a diagram illustrating the operation of the production line system according to the first embodiment of the present invention.
  • FIG. 6 is a diagram illustrating the operation of the production line system according to the first embodiment of the present invention.
  • FIG. 7 is a diagram illustrating the operation of the production line system according to the first embodiment of the present invention.
  • FIG. 1 is a diagram showing a production line system in Embodiment 1 of the present invention.
  • FIG. 2 is a diagram illustrating the base unit according to the first embodiment of the present invention.
  • FIG. 3 is a plan view showing the base unit according to the first embodiment of
  • FIG. 8 is a diagram showing the operation of the production line system in Embodiment 1 of the present invention.
  • FIG. 9 is a diagram illustrating the operation of the production line system according to the first embodiment of the present invention.
  • FIG. 10 is a diagram illustrating an example of an arrangement of a plurality of base units in the first embodiment of the present invention.
  • FIG. 11 is a diagram illustrating another example of the arrangement of the plurality of base units in the first embodiment of the present invention.
  • FIG. 12 is a diagram illustrating another operation of the production line system according to the first embodiment of the present invention.
  • FIG. 13 is a diagram illustrating another operation of the production line system according to the first embodiment of the present invention.
  • FIG. 14 is a diagram illustrating another configuration of the base unit according to Embodiment 1 of the present invention.
  • FIG. 15 is a diagram illustrating a base unit according to the second embodiment of the present invention.
  • FIG. 16 is a plan view showing a base unit according to Embodiment 2 of the present invention.
  • FIG. 17 is a diagram illustrating a base unit according to the third embodiment of the present invention.
  • FIG. 18 is a diagram illustrating another configuration of the base unit according to Embodiment 3 of the present invention.
  • FIG. 19 is a plan view showing a base unit according to Embodiment 4 of the present invention.
  • FIG. 20 is a block diagram illustrating configurations of the robot arm unit and the first moving body according to the fourth embodiment of the present invention.
  • FIG. 21 is a block diagram illustrating configurations of the table unit and the second moving body according to the fourth embodiment of the present invention.
  • FIG. 1 is a diagram showing a production line system 1 in the present embodiment.
  • the production line system 1 includes a plurality of base units 2.
  • the plurality of base units 2 are arranged along the production line direction D.
  • the production line direction D is a direction in which the work W to be worked is conveyed. *
  • Each of the plurality of base units 2 includes a robot arm unit 21.
  • Each robot arm unit 21 performs predetermined tasks different from each other on the workpiece W.
  • each robot arm unit 21 transports the workpiece W after performing a predetermined operation downstream in the production line direction D.
  • FIG. 2 is a diagram showing the base unit 2 in the present embodiment. As shown in FIG. 2, the base unit 2 includes a table unit 22 and a traveling unit 23 in addition to the robot arm unit 21. *
  • the table unit 22 includes a first movable table 221a and a second movable table 221b.
  • the first movable table 221a and the second movable table 221b support the workpiece W.
  • the robot arm unit 21 performs a predetermined operation on the workpiece W supported by the first movable table 221a or the second movable table 221b.
  • the traveling unit 23 moves the robot arm unit 21 and the table unit 22.
  • the traveling unit 23 is a moving body 230.
  • the robot arm unit 21 and the table unit 22 are provided on the moving body 230.
  • the moving body 230 has driving wheels 231 and drives the driving wheels 231. As a result, the moving body 230 moves, and the robot arm unit 21 and the table unit 22 provided on the moving body 230 move.
  • the moving body 230 is, for example, an automatic guided vehicle. *
  • the robot arm unit 21 is an articulated robot arm, and includes a plurality of links 211, a plurality of joint units 212, a hand unit 213, and a gantry 214.
  • the hand unit 213 is an example of a working unit.
  • the plurality of links 211 include a base end portion 211a and a tip end portion 211b.
  • the base end portion 211 a is fixed to the gantry 214.
  • the base end portion 211a is a fixed end.
  • the distal end portion 211b is a free end and supports the hand portion 213.
  • the joint part 212 connects adjacent links 211. Specifically, the plurality of links 211 are connected by a joint portion 212 so as to be able to rotate, swing, and turn. *
  • the hand unit 213 grips the work W.
  • the hand unit 213 holds a work tool T such as a soldering iron, an electric screwdriver, or an imaging device in accordance with the work content when performing a predetermined work.
  • the hand unit 213 grips the part P to be attached to the workpiece W according to the work content when performing a predetermined work.
  • a soldering iron is used when a terminal is connected to the workpiece W.
  • the electric screwdriver is used when a screw is fastened to the workpiece W.
  • the imaging device is used when inspecting the appearance of the workpiece W.
  • the part P is inserted into the workpiece W by the robot arm unit 21. *
  • the hand unit 213 has a plurality of fingers. When the plurality of fingers are closed, the workpiece W, the work tool T, or the part P is gripped by the hand unit 213. On the other hand, the workpiece W, the work tool T, or the part P is released from the hand portion 213 by opening a plurality of fingers.
  • the gantry 214 is fixed to the moving body 230.
  • the gantry 214 accommodates therein a drive circuit (first drive circuit 215) of the joint part 212 and a drive circuit (second drive circuit 216) of the hand part 213, which will be described later with reference to FIG. *
  • the first movable table 221a and the second movable table 221b will be described with reference to FIG. As shown in FIG. 2, the first movable table 221a and the second movable table 221b are slidable in the first slide direction S1 and the second slide direction S2. *
  • the first slide direction S1 and the second slide direction S2 are directions parallel to the production line direction D.
  • the first slide direction S1 is the same direction as the production line direction D. That is, the first slide direction S1 is a direction from the upstream side to the downstream side in the production line direction D.
  • the second slide direction S2 is a direction opposite to the production line direction D. That is, the second slide direction S2 is a direction from the downstream side to the upstream side in the production line direction D.
  • FIG. 3 is a plan view showing the base unit 2 in the present embodiment.
  • the robot arm unit 21 only the base end part 211a and the gantry 214 are shown, and other elements such as the hand part 213 described with reference to FIG. 2 are omitted. . *
  • the 1st movable table 221a and the 2nd movable table 221b are arrange
  • the first movable table 221a and the second movable table 221b are produced as shown in FIG. 3 by arranging the first movable table 221a and the second movable table 221b apart in the vertical direction. They can be arranged in a straight line in the line direction D. Therefore, the base unit 2 can be downsized. Specifically, the width of the base unit 2 in the direction orthogonal to the vertical direction and orthogonal to the production line direction D can be reduced. Therefore, the installation area of the base unit 2 can be suppressed. As a result, the cost for introducing the robot into the production line can be reduced. *
  • the movement amount of the hand unit 213 included in the robot arm unit 21 described with reference to FIG. 2 is suppressed. be able to. In other words, the movement amount (stroke) of the robot arm unit 21 can be reduced. As a result, it is possible to select a small robot arm, and in addition, it is possible to save power of the base unit 2 and reduce the cost of introducing the robot into the production line.
  • FIG. 4 is a block diagram showing a configuration of the base unit 2 in the present embodiment. *
  • the robot arm unit 21 further includes a first drive circuit 215 and a second drive circuit 216 in addition to the joint unit 212 and the hand unit 213.
  • the first drive circuit 215 generates a signal for driving the joint unit 212.
  • the second drive circuit 216 generates a signal for driving the hand unit 213.
  • the robot arm unit 21 includes a first drive circuit 215 for each joint unit 212 described with reference to FIG. *
  • the joint unit 212 includes a motor for rotating, swinging, and turning the link 211 described with reference to FIG. 2, and the first drive circuit 215 is a signal that drives the motor of the joint unit 212. Is generated.
  • the joint part 212 includes a servo motor and a gear (reduction gear).
  • the first drive circuit 215 is a servo control circuit.
  • the hand unit 213 has a motor for closing and opening the fingers, and the second drive circuit 216 generates a signal for driving the motor of the hand unit 213.
  • the hand unit 213 includes a servo motor.
  • the second drive circuit 216 is a servo control circuit. *
  • the table unit 22 includes a slide mechanism 222 in addition to the first movable table 221a and the second movable table 221b.
  • the slide mechanism 222 slides the first movable table 221a and the second movable table 221b.
  • the slide mechanism 222 includes a first slide mechanism 222a and a second slide mechanism 222b.
  • the first slide mechanism 222a slides the first movable table 221a in the first slide direction S1 and the second slide direction S2 described with reference to FIG.
  • the second slide mechanism 222b slides the second movable table 221b in the first slide direction S1 and the second slide direction S2 described with reference to FIG.
  • the first slide mechanism 222a and the second slide mechanism 222b include an electric cylinder or an air cylinder.
  • the moving body 230 includes a drive unit 232, a position information acquisition unit 233, and a control device 234 in addition to the drive wheels 231. *
  • the drive unit 232 generates a drive force that rotates the drive wheels 231.
  • the drive unit 232 includes a motor and a gear that rotate the drive wheels 231 and a drive circuit.
  • the drive circuit generates a signal for driving the motor.
  • the position information acquisition unit 233 acquires the current position of the moving body 230, in other words, the current position of the base unit 2.
  • the position information acquisition unit 233 includes a GPS (global positioning system) receiver.
  • the GPS receiver outputs a signal indicating the current position of the moving body 230.
  • the control device 234 controls the operation of the moving body 230.
  • the control device 234 includes a processing device such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).
  • the control device 234 has a storage area.
  • the storage area is configured by a semiconductor memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory).
  • the storage area is configured by a semiconductor memory and a storage device such as an HDD (Hard Disk Drive). *
  • the storage area of the control device 234 stores a first control program for controlling the moving body 230.
  • the processing device of the control device 234 controls the operation of the moving body 230 based on the first control program.
  • the storage area of the control device 234 stores information indicating the target position and mapping information.
  • the mapping information indicates a map of a facility where the base unit 2 is used.
  • the processing device of the control device 234 controls the operation of the drive wheels 231 based on the signal indicating the current position output from the position information acquisition unit 233, the information indicating the target position, and the mapping information. Is generated.
  • the first control signal is a signal for moving the moving body 230, that is, the base unit 2, to the target position. *
  • the first control signal is output to the drive unit 232.
  • the drive unit 232 controls the operation of the drive wheels 231 based on the first control signal.
  • the moving body 230 that is, the base unit 2 moves to the target position.
  • the storage area of the control device 234 further stores a second control program for controlling the robot arm unit 21, and the processing device of the control device 234 is based on the second control program. The operation of the arm unit 21 is controlled.
  • the processing device of the control device 234 generates a second control signal for controlling the joint unit 212 and a third control signal for controlling the hand unit 213.
  • the second control signal and the third control signal are signals for causing the hand unit 213 to grip the work tool T or the part P and causing the robot arm unit 21 to perform a predetermined work.
  • the second control signal and the third control signal are signals for causing the robot arm unit 21 to transport the workpiece W by causing the hand unit 213 to grip the workpiece W after a predetermined operation is performed.
  • the second control signal is output to the first drive circuit 215.
  • the first drive circuit 215 controls the operation of the joint unit 212 based on the second control signal.
  • the third control signal is output to the second drive circuit 216.
  • the second drive circuit 216 controls the operation of the hand unit 213 based on the third control signal.
  • the hand unit 213 performs a closing operation to grip the work tool T, the part P, or the work W.
  • the hand unit 213 performs an opening operation to release the work tool T, the part P, or the work W.
  • the storage area of the control device 234 further stores a third control program for controlling the table unit 22, and the processing device of the control device 234 uses the table unit based on the third control program. 22 operations are controlled.
  • the processing device of the control device 234 generates a fourth control signal for controlling the first slide mechanism 222a and a fifth control signal for controlling the second slide mechanism 222b.
  • the fourth control signal is a signal for sliding the first movable table 221a in the first slide direction S1 or the second slide direction S2 described with reference to FIG.
  • the fifth control signal is a signal for sliding the second movable table 221b in the first slide direction S1 or the second slide direction S2 described with reference to FIG. *
  • the fourth control signal is output to the first slide mechanism 222a.
  • the first slide mechanism 222a slides the first movable table 221a in the first slide direction S1 or the second slide direction S2 described with reference to FIG. 2 based on the fourth control signal.
  • the fifth control signal is output to the second slide mechanism 222b. Based on the fifth control signal, the second slide mechanism 222b slides the second movable table 221b in the first slide direction S1 or the second slide direction S2 described with reference to FIG. *
  • the base unit 2 may include a plurality of control devices.
  • the base unit 2 may include a control device that controls the robot arm unit 21, a control device that controls the table unit 22, and a control device that controls the moving body 230.
  • FIGS. 5 to 9 are diagrams showing the operation of the production line system 1 in the present embodiment. Specifically, FIGS. 5 to 9 show two base units 2 adjacent to each other in the production line direction D among the plurality of base units 2. *
  • the base unit 2 located on the downstream side in the production line direction D is referred to as “first base unit 2 a”, and the base unit located on the upstream side in the production line direction D 2 is described as “second base unit 2b”.
  • the robot arm unit 21 included in the first base unit 2a is referred to as “first robot arm unit 21a”
  • the robot arm unit 21 included in the second base unit 2b is referred to as “second robot arm unit 21b”.
  • the robot arm portion 21 positioned on the upstream side in the production line direction D with respect to the second base unit 2b is referred to as a “third robot arm portion 21c”.
  • the second base unit 2b is located on the upstream side in the production line direction D with respect to the first base unit 2a. *
  • FIG. 5 shows a state where the first work W1 is transferred to the second movable table 221b of the first base unit 2a, and the second work W2 is transferred to the second movable table 221b of the second base unit 2b.
  • the first workpiece W1 is transferred to the second movable table 221b of the first base unit 2a by the second robot arm unit 21b.
  • the second workpiece W2 is transported to the second movable table 221b of the second base unit 2b by the third robot arm portion 21c.
  • the second movable table 221b of the second base unit 2b supports the second workpiece W2, it slides in the first sliding direction S1.
  • the second movable table 221b of the second base unit 2b slides in the first sliding direction S1 after the hand part 213 of the third robot arm part 21c releases the second workpiece W2.
  • the second work W2 is conveyed downstream in the production line direction D by the second movable table 221b of the second base unit 2b.
  • the first robot arm unit 21a performs a predetermined operation on the first workpiece W1 supported by the second movable table 221b of the first base unit 2a, and the second robot arm unit 21b
  • work W2 supported by the 2nd movable table 221b of 2 base units 2b is shown.
  • the first robot arm unit 21 a performs an operation of attaching the part P to the first work W ⁇ b> 1
  • the second robot arm unit 21 b performs an operation on the second work W ⁇ b> 2 using the work tool T.
  • the running state is illustrated. *
  • the first robot arm unit 21a performs a predetermined operation on the first workpiece W1 conveyed by the second movable table 221b of the first base unit 2a, and the second robot arm unit 21b. Performs a predetermined operation on the second workpiece W2 conveyed by the second movable table 221b of the second base unit 2b.
  • FIG. 8 shows a state in which the first robot arm unit 21a transports the first work W1, and the second robot arm unit 21b transports the second work W2.
  • FIG. 8 shows a state where the third robot arm unit 21c is transporting the third workpiece W3.
  • the hand part 213 of the first robot arm part 21a holds the first work W1 after the part P is attached.
  • the first robot arm part 21a transports the first work W1 to the downstream side in the production line direction D.
  • the first robot arm unit 21a conveys the first workpiece W1 to the first movable table 221a of the base unit 2 located downstream of the first base unit 2a in the production line direction D.
  • the hand part 213 of the second robot arm part 21b holds the second work W2 after the work using the work tool T is executed.
  • the second robot arm part 21b transports the second work W2 downstream in the production line direction D.
  • the second robot arm unit 21b conveys the second workpiece W2 to the first movable table 221a of the first base unit 2a.
  • the third work W3 is transferred to the first movable table 221a of the second base unit 2b by the third robot arm portion 21c.
  • the first movable movement of the first base unit 2a is performed.
  • the table 221a slides in the first slide direction S1
  • the second movable table 221b of the first base unit 2a slides in the second slide direction S2.
  • the second workpiece W2 supported by the first movable table 221a of the first base unit 2a is conveyed downstream in the production line direction D.
  • the first movable table 221a of the second base unit 2b is moved to the first slide. Slide in the direction S1, and the second movable table 221b of the second base unit 2b slides in the second slide direction S2.
  • the third workpiece W3 supported by the first movable table 221a of the second base unit 2b is conveyed downstream in the production line direction D.
  • the first robot arm unit 21a performs a predetermined operation on the second workpiece W2 supported by the first movable table 221a of the first base unit 2a, and the second robot arm unit 21b
  • work W3 supported by the 1st movable table 221a of 2 base unit 2b is shown.
  • the first robot arm unit 21a performs a predetermined operation on the second workpiece W2 conveyed by the first movable table 221a of the first base unit 2a, and the second robot arm unit 21b. Performs a predetermined operation on the third workpiece W3 conveyed by the first movable table 221a of the second base unit 2b.
  • the slide mechanism 222 slides the first movable table 221a and the second movable table 221b, and conveys the workpiece W to the downstream side in the production line direction D. To do. Therefore, according to the present embodiment, the workpiece W can be transported more efficiently than when the workpiece W is transported only by the robot arm unit 21. Moreover, the operation amount (stroke) of the robot arm unit 21 can be reduced. As a result, it is possible to select a small robot arm, and in addition, it is possible to save power of the base unit 2 and reduce the cost of introducing the robot into the production line. *
  • the slide mechanism 222 supports the first movable table 221a or the second movable table that supports the workpiece W.
  • 221b is slid to transport the workpiece W to a position facing the hand portion 213.
  • the first movable table 221 a and the second movable table 221 b transport the workpiece W to a position directly below the hand unit 213.
  • the workpiece W can be efficiently conveyed.
  • the operation amount (stroke) of the robot arm unit 21 can be reduced. As a result, it is possible to select a small robot arm, and in addition, it is possible to save power of the base unit 2 and reduce the cost of introducing the robot into the production line.
  • the first movable table 221a and the second movable table 221b transport the workpiece W to a position facing the hand unit 213, whereby the operation amount (stroke) of the robot arm unit 21 can be reduced. Therefore, the time required for the robot arm unit 21 to start work can be reduced. As a result, the production line cycle time can be reduced. Furthermore, since the operation amount (stroke) of the robot arm unit 21 can be reduced, the base unit 2 can be reduced in size and power can be saved. Further, the size and power saving of the base unit 2 can reduce the cost of introducing the robot into the production line. *
  • the slide mechanism 222 is configured such that when the first movable table 221 a or the second movable table 221 b supports the workpiece W, the first movable table The 221a and the second movable table 221b are slid in opposite directions. Therefore, the 1st movable table 221a and the 2nd movable table 221b can be moved efficiently. As a result, the conveyance efficiency of the workpiece W can be improved. Furthermore, the cycle time of the production line can be shortened. *
  • each base unit 2 includes the moving body 230. Therefore, the base unit 2 which comprises a production line can be increased by driving the drive wheel 231 of the moving body 230 and moving the moving body 230. FIG. Moreover, the base unit 2 which comprises a production line can be reduced by driving the drive wheel 231 of the moving body 230 and moving the moving body 230. FIG. Therefore, compared with the case where the operator manually moves the unit, the work of increasing the base units 2 constituting the production line and the work of reducing the base units 2 constituting the production line are facilitated. As a result, it is possible to easily cope with a large variety and small quantity production. Furthermore, according to this embodiment, the operation
  • the robot arm unit 21 performs work on the workpiece W and conveyance of the workpiece W. Therefore, when changing the production line, it is only necessary to add or reduce the base unit 2, and a unit that performs a predetermined operation on the workpiece W and a unit that conveys the workpiece W to the downstream side of the production line are separated.
  • the production line can be easily changed compared to the case of the body.
  • the line length of a production line can be changed. Therefore, the line length of the production line can be adjusted in accordance with the dimension of the workpiece W or each work content.
  • FIG. 10 is a diagram illustrating an example of the arrangement of the plurality of base units 2 in the present embodiment. As shown in FIG. 10, when narrowing the gap between adjacent base units 2, the sliding amount of the first movable table 221a and the second movable table 221b is reduced. Alternatively, the positions of the first movable table 221a and the second movable table 221b may be fixed. *
  • FIG. 11 is a diagram illustrating another example of the arrangement of the plurality of base units 2 in the present embodiment. *
  • the time required for the robot arm unit 21 to start work by increasing the slide amount of the first movable table 221a and the second movable table 221b and reducing the operation amount (stroke) of the robot arm unit 21. Can be reduced. Therefore, the cycle time of the production line can be reduced. Furthermore, power saving can be achieved. As a result, the cost of introducing the robot into the production line can be reduced. Moreover, since the size of the gap between the adjacent base units 2 can be changed according to each work content, a flexible production line length can be realized. *
  • FIG. 12 and FIG. 13 show the first base unit 2a and the second base unit 2b as in FIG. 5 to FIG. *
  • the first robot arm unit 21a performs a predetermined operation on the first workpiece W1 supported by the second movable table 221b of the first base unit 2a, and the second robot arm unit 21b
  • work W2 supported by the 2nd movable table 221b of 2 base units 2b is shown.
  • the third robot arm unit 21 c is used as the second base unit.
  • the third work W3 is conveyed to the first movable table 221a of 2b.
  • FIG. 13 shows a state in which the first robot arm unit 21a transports the first workpiece W1 and the second robot arm unit 21b transports the second workpiece W2.
  • the first movable table 221a of the second base unit 2b is the first movable table 221a. It slides in 1 slide direction S1, and the 2nd movable table 221b of the 2nd base unit 2b slides in 2nd slide direction S2.
  • the table unit 22 includes a first movable table 221a and a second movable table 221b. Therefore, the area where the workpiece W is transferred from the robot arm 21 on the upstream side in the production line direction D can be separated from the area where the predetermined work is performed on the workpiece W. As a result, the transfer efficiency of the work W is improved as compared with the case where the area where the work W is transferred and the area where the predetermined work is performed on the work W are the same area. *
  • the third robot arm unit 21 c does not wait for the end of the work by the second robot arm unit 21 b and the first base unit 2 b of the first base unit 2 b.
  • the workpiece W can be conveyed to the movable table 221a or the second movable table 221b. Therefore, work W Can be efficiently conveyed.
  • the third robot arm unit 21c does not wait for the end of the operation by the second robot arm unit 21b when the operation time by the third robot arm unit 21c is shorter than the operation time by the second robot arm unit 21b.
  • the work W is conveyed.
  • FIG. 14 is a diagram showing another configuration of the base unit 2 in the present embodiment.
  • the movable table 221c slides in the first slide direction S1 and the second slide direction S2. Specifically, the movable table 221c slides in the second slide direction S2 when the robot arm unit 21 transports the workpiece W downstream in the production line direction D. Further, the movable table 221c slides in the first slide direction S1 when the workpiece W is conveyed from the upstream robot arm portion 21 in the production line direction D to the movable table 221c.
  • the slide mechanism 222 can be simplified because it is only necessary to slide one movable table 221c. Further, since it is only necessary to slide one movable table 221c, power saving can be achieved.
  • Embodiment 2 of the present invention will be described with reference to FIGS. 15 and 16. However, items different from the first embodiment will be described, and descriptions of the same items as the first embodiment will be omitted.
  • the second embodiment is different from the first embodiment in the arrangement of the first movable table 221a and the second movable table 221b. *
  • FIG. 15 is a diagram showing the base unit 2 in the present embodiment. As shown in FIG. 15, in the present embodiment, the position of the first movable table 221a and the position of the second movable table 221b in the vertical direction are equal. *
  • FIG. 16 is a plan view showing the base unit 2 in the present embodiment. However, in order to simplify the drawing, for the robot arm unit 21, only the base end part 211a and the gantry 214 are shown, and other elements such as the hand part 213 described with reference to FIG. 2 are omitted. . *
  • the 2nd movable table 221b is arrange
  • the 1st movable table 221a and the 2nd movable table 221b can be arrange
  • the length in the vertical direction is longer than the distance between the first movable table 221a and the second movable table 221b in the vertical direction. It is not easy to target a long workpiece W.
  • the first movable table 221a and the second movable table 221b are arranged apart from each other in the horizontal direction, thereby limiting the height of the workpiece W (the length in the vertical direction). No need to impose. Therefore, the work W having a higher height can be set as a work target.
  • the second movable table 221b is disposed at a position closer to the base end portion 211a and the base 214 than the first movable table 221a.
  • the first movable table 221a is disposed from the second movable table 221b. Also, it may be arranged at a position close to the base end portion 211 a and the gantry 214.
  • Embodiment 3 of the present invention will be described with reference to FIG. However, items different from the first and second embodiments will be described, and descriptions of the same items as the first and second embodiments will be omitted.
  • the table does not slide. *
  • FIG. 17 is a diagram showing the base unit 2 in the present embodiment.
  • the table unit 22 includes a first fixed table 221d and a second fixed table 221e.
  • the first fixed table 221d and the second fixed table 221e are fixed. In other words, the first fixed table 221d and the second fixed table 221e do not slide.
  • the first fixed table 221d is located upstream of the second fixed table 221e in the production line direction D.
  • the first fixed table 221d is arranged at a position close to the base unit 2 located on the upstream side in the production line direction D.
  • the second fixed table 221e is arranged at a position close to the base unit 2 located on the downstream side in the production line direction D.
  • the third embodiment of the present invention has been described above with reference to FIG. According to this embodiment, the table is fixed. Therefore, the slide mechanism 222 described with reference to FIG. 4 can be omitted. Further, since the table does not slide, power saving can be achieved as compared with the configuration in which the table slides. *
  • the table unit 22 includes the first fixed table 221d and the second fixed table 221e. Therefore, the area where the workpiece W is transferred from the robot arm 21 on the upstream side in the production line direction D can be separated from the area where the predetermined work is performed on the workpiece W. As a result, the transfer efficiency of the work W is improved as compared with the case where the area where the work W is transferred and the area where the predetermined work is performed on the work W are the same area. Specifically, when the robot arm unit 21 performs a predetermined operation on the workpiece W supported by the second fixed table 221e, the robot arm unit 21 on the upstream side in the production line direction D moves the workpiece. W can be conveyed to the first fixed table 221d. *
  • the position of the first fixed table 221d in the vertical direction and the position of the second fixed table 221e in the vertical direction can be aligned. Therefore, the amount of movement of the hand part 213 of the robot arm part 21 in the vertical direction can be suppressed, and the transfer efficiency of the workpiece W can be improved.
  • FIG. 18 is a diagram showing another configuration of the base unit 2 in the present embodiment. *
  • the fixed table 221f preferably has a transport area A and a work area B.
  • the conveyance area A is an area in which the workpiece W is conveyed from the robot arm unit 21 on the upstream side in the production line direction D.
  • the work area B is an area where the work W is arranged when the robot arm unit 21 performs a predetermined work on the work W.
  • the area where the work W is transferred and the area where the work W is performed are the same area as compared with the case where the work W is executed. Conveyance efficiency is improved. Specifically, when the robot arm unit 21 is performing a predetermined work in the work area B, the robot arm part 21 on the upstream side in the production line direction D can transfer the workpiece W to the transfer area A. . *
  • Embodiment 4 of the present invention will be described with reference to FIGS. However, items different from the first to third embodiments will be described, and descriptions of the same items as the first to third embodiments will be omitted.
  • the traveling unit 23 is different from those in the first to third embodiments. *
  • FIG. 19 is a plan view showing the base unit 2 in the present embodiment. However, in order to simplify the drawing, for the robot arm unit 21, only the base end part 211a and the gantry 214 are shown, and other elements such as the hand part 213 described with reference to FIG. 2 are omitted. . *
  • the traveling unit 23 in the present embodiment includes a first moving body 230a and a second moving body 230b.
  • the first moving body 230a moves the robot arm unit 21.
  • the second moving body 230b moves the table unit 22.
  • the second moving body 230b arranges the table unit 22 within the moving range of the hand unit 213 included in the robot arm unit 21.
  • FIG. 20 is a block diagram illustrating configurations of the robot arm unit 21 and the first moving body 230a in the present embodiment. As illustrated in FIG. 20, the first moving body 230a includes a control device 234a. *
  • the control device 234a controls the first moving body 230a and the robot arm unit 21.
  • the control device 234a includes a processing device such as a CPU or MPU.
  • the control device 234a has a storage area.
  • the storage area is configured by a semiconductor memory such as a ROM and a RAM, for example.
  • the storage area includes a semiconductor memory and a storage device such as an HDD.
  • the storage area of the control device 234a stores a first control program for controlling the first moving body 230a and a second control program for controlling the robot arm unit 21.
  • the processing device of the control device 234a controls the operation of the first moving body 230a based on the first control program, similarly to the control device 234 described in the first embodiment.
  • the processing device of the control device 234a controls the operation of the robot arm unit 21 based on the second control program, similarly to the control device 234 described in the first embodiment.
  • FIG. 21 is a block diagram showing configurations of the table unit 22 and the second moving body 230b in the present embodiment. As illustrated in FIG. 21, the second moving body 230b includes a control device 234b. *
  • the control device 234b controls the second moving body 230b and the table unit 22.
  • the control device 234a includes a processing device such as a CPU or MPU.
  • the control device 234a has a storage area.
  • the storage area is configured by a semiconductor memory such as a ROM and a RAM, for example.
  • the storage area includes a semiconductor memory and a storage device such as an HDD.
  • the storage area of the control device 234b stores a third control program for controlling the table unit 22 and a fourth control program for controlling the second moving body 230b.
  • the processing device of the control device 234b controls the operation of the table unit 22 based on the third control program, similarly to the control device 234 described in the first embodiment. Further, the processing device of the control device 234b controls the operation of the second moving body 230b based on the fourth control program, similarly to the control device 234 described in the first embodiment.
  • each base unit 2 includes a moving body that moves the robot arm unit 21 and a moving body that moves the table unit 22. Therefore, as in the first embodiment, the work of increasing the base units 2 constituting the production line and the work of reducing the base units 2 constituting the production line are facilitated. As a result, it is possible to easily cope with a large variety and small quantity production.
  • the control device 234a of the first moving body 230a controls the first moving body 230a and the robot arm unit 21, but the base unit 2 includes a control device that controls the first moving body 230a, You may provide the control apparatus which controls the robot arm part 21.
  • the control device 234b of the second moving body 230b controls the second moving body 230b and the table unit 22, but the base unit 2 includes a control device that controls the second moving body 230b, You may provide the control apparatus which controls the table part 22.
  • the table unit 22 includes two movable tables, but the table unit 22 may include one movable table. Alternatively, the table unit 22 may have at least one fixed table.
  • the running unit may be built in the robot arm.
  • each robot arm unit 21 independently performs a predetermined work on the workpiece W.
  • two adjacent robot arm units 21 in the production line direction D cooperate to form the workpiece W.
  • a predetermined work may be executed.
  • the plurality of base units 2 include a first base unit and a second base unit that are adjacent in the production line direction D.
  • the first base unit is located downstream of the second base unit in the production line direction D
  • the second base unit is located upstream of the first base unit in the production line direction D.
  • the robot arm portion 21 of the first base unit cooperates with the robot arm portion 21 of the second base unit when the robot arm portion 21 of the second base unit performs a predetermined operation on the workpiece W.
  • a predetermined work may be performed on the workpiece W.
  • the robot arm unit 21 of the first base unit performs an operation on the workpiece W
  • the robot arm unit 21 of the second base unit cooperates with the robot arm unit 21 of the first base unit, A predetermined work may be performed on the workpiece W.
  • the work load can be shared by the two robot arm portions 21.
  • each robot arm unit 21 independently transports the workpiece W.
  • two adjacent robot arm units 21 in the production line direction D may cooperate to transport the workpiece W. . *
  • the plurality of base units 2 include a first base unit and a second base unit that are adjacent in the production line direction D.
  • the first base unit is located downstream of the second base unit in the production line direction D
  • the second base unit is located upstream of the first base unit in the production line direction D.
  • the robot arm portion 21 of the first base unit can transport the workpiece W in cooperation with the robot arm portion 21 of the second base unit when the robot arm portion 21 of the second base unit transports the workpiece W. Good. *
  • the workpiece W having a weight exceeding the loadable weight of the robot arm portion 21 can be set as a work target.
  • the first robot arm part which is the robot arm part 21 on the downstream side in the production line direction D, has a weight of the workpiece W in the production line direction D.
  • the weight exceeds the transportable weight of the second robot arm unit which is the upstream robot arm unit 21, the workpiece W may be transported in cooperation with the second robot arm unit.
  • the plurality of base units 2 include a first base unit and a second base unit that are adjacent in the production line direction D.
  • the first base unit is located downstream of the second base unit in the production line direction D
  • the second base unit is located upstream of the first base unit in the production line direction D.
  • the robot arm portion 21 (first robot arm portion) of the first base unit receives a workpiece W having a weight exceeding the loadable weight of the robot arm portion 21 (second robot arm portion) of the second base unit.
  • the workpiece W may be transported in cooperation with the robot arm unit 21 of the second base unit.
  • the second robot arm unit transports the workpiece W alone, and the weight of the workpiece W is transportable by the second robot arm unit. If the weight is exceeded, the first robot arm unit and the second robot arm unit may cooperate to transport the workpiece W.
  • the first robot arm unit and the second robot arm unit cooperate to transport the workpiece W, thereby exceeding the transportable weight.
  • the transfer efficiency of the workpiece W can be improved and the cycle time can be shortened.
  • the present invention is suitable for a production line used for high-mix low-volume production.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • General Factory Administration (AREA)

Abstract

Le problème à résoudre par la présente invention est de fournir un système de ligne de production avec lequel il est possible de changer facilement une ligne de production. La solution selon l'invention porte sur un système de ligne de production 1 comprenant une pluralité d'unités de base 2. La pluralité d'unités de base 2 sont alignées dans une direction de ligne de production D, qui est la direction dans laquelle une pièce W soumise à des opérations est transportée. Chacune des unités de base 2 comprend une partie de table 22, une partie de bras de robot 21 et une partie de déplacement 23. La partie de table 22 a au moins une table qui supporte la pièce à usiner W. La partie de bras de robot 21 exécute une opération prescrite sur la pièce à usiner W. La partie de déplacement 23 déplace la partie de table 22 et la partie de bras de robot 21. La partie bras de robot 21 transporte la pièce W vers le côté aval dans la direction de ligne de production D après l'exécution de l'opération prescrite.
PCT/JP2019/008293 2018-03-13 2019-03-04 Système de ligne de production et unité de base WO2019176611A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018045357A JP6501013B1 (ja) 2018-03-13 2018-03-13 生産ラインシステム、及びベースユニット
JP2018-045357 2018-03-13

Publications (1)

Publication Number Publication Date
WO2019176611A1 true WO2019176611A1 (fr) 2019-09-19

Family

ID=66166730

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/008293 WO2019176611A1 (fr) 2018-03-13 2019-03-04 Système de ligne de production et unité de base

Country Status (2)

Country Link
JP (1) JP6501013B1 (fr)
WO (1) WO2019176611A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10850387B2 (en) * 2016-09-16 2020-12-01 Fuji Corporation Automatic workpiece transfer machine

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7392114B2 (ja) * 2020-03-31 2023-12-05 株式会社日立製作所 生産システムおよびその組み立て方法
CN111922717B (zh) * 2020-09-17 2021-03-12 佛山隆深机器人有限公司 一种机械手流水线式装配方法
CN112596473A (zh) * 2020-11-20 2021-04-02 首钢京唐钢铁联合有限责任公司 一种热镀板生产控制方法和装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005182388A (ja) * 2003-12-18 2005-07-07 Aisin Aw Co Ltd セル生産方法及びセル生産設備、並びに作業台車
JP2008229738A (ja) * 2007-03-16 2008-10-02 Seiko Epson Corp 生産システム及び生産システム用汎用セル
WO2016103304A1 (fr) * 2014-12-26 2016-06-30 川崎重工業株式会社 Système de production
JP2017109289A (ja) * 2015-12-18 2017-06-22 キヤノン株式会社 生産装置モジュール、および生産装置ライン
JP2017186160A (ja) * 2016-04-05 2017-10-12 川崎重工業株式会社 搬送装置、それを用いた製造ライン、及び製造ラインの変更方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003089039A (ja) * 2001-09-13 2003-03-25 Omron Corp 生産システムおよび生産方法
DE102004029665A1 (de) * 2004-03-30 2005-10-27 Continental Teves Ag & Co. Ohg Modulares Transfersystem für Werkstücke

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005182388A (ja) * 2003-12-18 2005-07-07 Aisin Aw Co Ltd セル生産方法及びセル生産設備、並びに作業台車
JP2008229738A (ja) * 2007-03-16 2008-10-02 Seiko Epson Corp 生産システム及び生産システム用汎用セル
WO2016103304A1 (fr) * 2014-12-26 2016-06-30 川崎重工業株式会社 Système de production
JP2017109289A (ja) * 2015-12-18 2017-06-22 キヤノン株式会社 生産装置モジュール、および生産装置ライン
JP2017186160A (ja) * 2016-04-05 2017-10-12 川崎重工業株式会社 搬送装置、それを用いた製造ライン、及び製造ラインの変更方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10850387B2 (en) * 2016-09-16 2020-12-01 Fuji Corporation Automatic workpiece transfer machine

Also Published As

Publication number Publication date
JP2019155529A (ja) 2019-09-19
JP6501013B1 (ja) 2019-04-17

Similar Documents

Publication Publication Date Title
WO2019176611A1 (fr) Système de ligne de production et unité de base
JP5423441B2 (ja) 作業システム、ロボット装置、機械製品の製造方法
CN105437205B (zh) 一种柱形物体装卸用机械手
JP2011224742A (ja) ロボットセル
JP2005046966A (ja) 生産システム
JP4737123B2 (ja) 移送ロボット
JP2015080816A (ja) ワーク搬送装置
KR101558676B1 (ko) 리스폿 지그
ITUD20050158A1 (it) Dispositivo robotizzato per la movimentazione di un oggetto
JP2009113186A (ja) ねじ締付装置
US20180326598A1 (en) Robot
JP2009539623A5 (fr)
CN104626131A (zh) 一种新型四轴桁架机械手
CN102773754B (zh) 自动上料装置及正倒立车
JP6621279B2 (ja) ワーク搬送装置
CN209758487U (zh) 一种物料搬运车
CN104044008A (zh) 工件转运装置
CN106903495A (zh) 一种用于大型零件对准装配操作的机器人机构
KR100746913B1 (ko) 자동차 제조용 소형 부품 공급 장치
JP6661367B2 (ja) 生産装置モジュール、生産装置ライン、および物品の製造方法
KR101707831B1 (ko) 수평유지 유닛을 구비한 다기능 고정형 로봇
CN203495943U (zh) 一种取物小车
US20140283353A1 (en) Workpiece assembly line and method for producing workpiece
JP2003231075A (ja) ロボットアーム構造
JP5170225B2 (ja) ワーク位置決め装置およびそれを用いた生産システム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19766830

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19766830

Country of ref document: EP

Kind code of ref document: A1