WO2022264597A1

WO2022264597A1 - Robot system

Info

Publication number: WO2022264597A1
Application number: PCT/JP2022/013481
Authority: WO
Inventors: 秀樹長末; 昌昭中川; 秀明田中; 亮太前田
Original assignee: Dmg森精機株式会社
Priority date: 2021-06-15
Filing date: 2022-03-23
Publication date: 2022-12-22
Also published as: JP7012181B1; JP2022190834A

Abstract

The present invention comprises: a robot (25) which is equipped with a camera and an end effector; an unmanned transport vehicle (35) which has the robot (25) mounted thereon and goes through a work position for a work object (10); and a control device (40) which performs control on the unmanned transport vehicle (35) and the robot (25). The work object (10) is provided with a door body that opens and closes an internal work area. The control device (40) executes: a door body confirmation process in which the unmanned transport vehicle (35) is caused to go through the work position so as to cause the camera to capture an image of the door body, and confirmation is made, on the basis of the captured image, as to whether the door body is in an open state; and a work process in which, in the case when the door body has been confirmed to be in an open state, the robot is caused to operate and execute work within the work area using the end effector. Further, on the basis of the captured image, confirmation is made, prior to starting the work process, as to whether or not a control panel is disposed at a blocking position where at least a portion of an opening is blocked in an imaging direction.

Description

robot system

The present invention relates to an automatic guided vehicle and a robot system equipped with a robot mounted on the automatic guided vehicle.

Conventionally, as an example of the above-described robot system, a self-propelled robot disclosed in International Publication No. 2018/92222 (Patent Document 1 below) is known. A machine tool system is disclosed that is configured to transport a workpiece to a machine tool of.

The self-propelled robot comprises an automatic guided vehicle and a manipulator having degrees of freedom of three or more axes provided on the automatic guided vehicle. , moves to the vicinity of the target position while recognizing its own approximate position, and then recognizes the target or the marker attached to the target by the camera, thereby performing precise positioning.

In addition, the machine tool system includes a machine tool control unit that sends a work request for each machine tool, and based on the work request for each machine tool sent from the machine tool control unit, each of the plurality of self-propelled robots can work. A self-propelled robot control unit that determines the respective times, and a judgment unit that compares the planned workable time for each self-propelled robot and causes the self-propelled robot with the earlier workable time to perform the requested work.

Thus, according to this machine tool system, even if the operator does not predict the work time of the self-propelled robot in advance, the machine tool and the self-propelled robot automatically determine the workable time of various works, and perform appropriate work. It is said that it is possible to make the appropriate self-propelled robot execute at the appropriate timing.

WO2018/92222

However, while the above-mentioned conventional machine tool system has the above advantages, it also has the following problems.

That is, some conventional machine tools have a function of communicating with an external device regarding a drive command for opening/closing a chuck or the completion of an operation for automation. In the machine, there is also the problem that the machine tool needs to be remodeled, such as by adding a function to send work requests, and the cost for constructing the machine tool system increases.

In addition, since the judgment unit controls a plurality of self-propelled robots in an integrated manner, the processing becomes complicated and a special control device called the judgment unit needs to be provided. There was a problem that the cost for constructing the system was high.

In addition, since the self-propelled robot is in a state where it cannot work on the machine tool without a command from the judgment unit, it is in a state in which it is not given the freedom of movement.

Based on the above background, if a self-propelled robot (robot system) can determine the state of a machine tool and operate autonomously with respect to the machine tool, the machine tool is given a function to send out a work request. Since there is no need to provide a special control device such as a judgment unit, the machine tool system can be realized at low cost.

The present invention has been made in view of the above circumstances, and aims to provide a robot system capable of autonomously working on a work target.

The present invention for solving the above problems is
a robot having a camera that captures an image and an end effector that acts on a work object;
An automatic guided vehicle equipped with the robot and passing through a work position set for the work object;
A robot system comprising the automatic guided vehicle and a control device that controls the robot,
The work object has a door that separates a work area set inside from the outside and opens and closes an opening that communicates the work area with the outside,
the work position set for the work object is a position where the end effector of the robot can enter the work area;
The control device is
A door body confirmation process of passing the unmanned guided vehicle to a work position, capturing an image of the door body with the camera, and confirming whether or not the door body is in an open state based on the obtained image;
a robot system configured to operate the robot to perform work using the end effector in the work area when it is confirmed that the door is in the open state; It depends.

This robot system is configured to work on a work object having a work area inside, the work area of the work object being partitioned from the outside by a door, and the door is the work area and the outside. configured to open and close an opening in communication with the

When performing work on the work target, the control device of the robot system first causes the automatic guided vehicle to pass through the work position set for the work target, and then moves the door through the camera. An image of the body is captured, and based on the obtained image, door confirmation processing is performed to confirm whether or not the door is in the open state. When the door is in the open state, it is determined that the work object is in a waiting state in which the robot can work. Work (work processing) using the end effector is executed within the area.

As described above, according to the robot system of the present invention, it is determined whether or not the work object is in the waiting state by confirming whether or not the door is in the open state. When it is determined that the robot is in the waiting state, the robot is configured to operate and perform the scheduled work on the work object, so that the robot can autonomously work on the work object. can work on Therefore, a system in which the robot system works on a work object can be realized at a lower cost than a conventional machine tool system. Incidentally, depending on the content of the work, the robot system can also work on a work target that does not have a communication function.

In the robot system of the above aspect (first aspect), after the control device executes the door body confirmation process and confirms that the door body is in an open state, before starting the work process, Based on the captured image, an operation panel for confirming whether or not the operation panel is located at a closed position that blocks at least a part of the opening in the imaging direction, in other words, at a position overlapping the opening. It is preferable that the operation processing is executed when confirmation processing is executed and it is confirmed that the operation panel is not in the closed position.

In this aspect (second aspect), if the robot works on the work object while the operation panel is in the closed position, there is a risk of interference between the robot and the operation panel. Therefore, when it is confirmed that the operation panel is not in the closed position, the robot can work on the work object, thereby avoiding interference between the robot and the operation panel.

Further, in the second aspect, when it is confirmed in the operation panel confirmation process that the operation panel is located at the closed position, the control device performs the imaged operation before starting the work process. Based on the image, a handle provided on the operation panel is recognized, and after the end effector is engaged with the handle, an operation panel evacuation process is executed to move the operation panel to the outside of the closed position. preferably configured.

In this aspect (third aspect), when it is confirmed that the operation panel is in the closed position in the operation panel confirmation process, the robot moves the operation panel from the closed position to the outside thereof. Therefore, it is possible to prevent the robot from interfering with the operation panel when the robot works on the work object.

In any one of the first to third aspects, the work object is a machine tool, and the machine tool is configured to machine a workpiece within the work area,
In the work process, the control device may be configured to cause the robot to perform the work of exchanging the work within the work area (fourth mode).

Further, in the fourth aspect, after executing the work process, the control device operates the robot to press a machining start button provided on the operation panel using the end effector. It is good also as the aspect (the 5th aspect) comprised in.

In the above fourth or fifth aspect, the machine tool has a viewing portion made of a transparent member on the door body, and is configured so that the work area can be observed from the outside through the viewing portion,
When it is confirmed in the door body confirmation process that the door body is in a closed state, the control device captures an image of the inside of the work area through the visual recognition unit with the camera, and analyzes the obtained image. Then, a mode (sixth mode) configured to execute a machining time estimation process for estimating the remaining machining time until machining of the workpiece is completed may be adopted.

In the sixth aspect, after executing the machining time estimation process, the control device causes the automatic guided vehicle to perform the work when the estimated remaining machining time is shorter than a predetermined reference time. A mode (seventh mode) may be adopted in which the machine is made to wait at a position, and when the remaining machining time is longer than the reference time, the machine is moved from the working position to another working position.

In any one of the first to third aspects, the work object is a pallet changing device, and pallets are arranged in the work area,
In the work process, the control device may be configured to cause the robot to perform a work of exchanging a work attached to a pallet within the work area (eighth mode).

In the eighth aspect, after the work processing is completed, the control device recognizes a door close button for closing a door provided on the operation panel based on the imaged image, and performs the end operation. A mode (ninth mode) in which an effector is used to press the door close button is also possible.

According to the robot system of the present invention, it is determined whether or not the work object is in the waiting state by checking whether the door is in the open state. When the determination is made, the robot is configured to operate to perform the scheduled work on the work object, so that the robot performs the work on the work object in an autonomous state. It can be carried out. Therefore, a system in which a robot system works on an object to be worked can be realized at a lower cost than a conventional machine tool system.

1 is a plan view showing a production system according to one embodiment of the present invention; FIG. 1 is a block diagram showing the configuration of a production system according to this embodiment; FIG. 1 is a perspective view showing a robot system according to this embodiment; FIG. 4 is a flow chart showing autonomous work in the robot system of this embodiment. FIG. 4 is an explanatory diagram for explaining autonomous work in the robot system of the embodiment; FIG. 4 is an explanatory diagram for explaining autonomous work in the robot system of the embodiment; FIG. 5 is a plan view showing a production system according to another embodiment of the invention; 8 is a front view seen from the front in FIG. 7, that is, from the robot system side; FIG. 9 is a flow chart showing autonomous work in a robot system of another embodiment;

Specific embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
First, a first embodiment of the present invention will be described. As shown in FIGS. 1 and 2, the production system 1 of this example includes a robot system 24, a machine tool 10, a material stocker 21 and a product stocker 22 as peripheral devices, and the like. It is composed of a vehicle 35, a robot 25 mounted on the automatic guided vehicle 35, a control device 40 for controlling the robot 25 and the automatic guided vehicle 35, and the like.

The machine tool 10 is a compound machining type NC machine tool controlled by a numerical controller (not shown). As shown in FIG. A turret 14 on which tools and the like are arranged, and a tool post 11 having a tool spindle 12 on which a rotary tool 13 and the like are held are provided in the machining area, so that both turning and milling can be performed. It has become.

The processing area is separated from the outside by a door (door body) 16 that can be opened and closed. By opening the door 16, the front side of the processing area is opened, and the robot 25 can enter the processing area through this opening. is now possible. Further, the door 16 is provided with a transparent window portion (viewing portion) 16a through which the inside of the processing area can be viewed from the outside. Further, on the right side of the door 16, there is provided an operation panel 17 which can be rotated in the direction of the arrow shown in FIG.

The material stocker 21 is a device for stocking workpieces (materials) to be machined by the machine tool 10, and is arranged to the left of the machine tool 10 in FIG. The product stocker 22 is a device for storing processed works (products or semi-finished products) machined by the machine tool 10, and is arranged on the right side of the machine tool 10 in FIG.

As shown in FIGS. 1 and 3, the automatic guided vehicle 35 has the robot 25 mounted on a mounting surface 36, which is the top surface thereof, and is provided with an operation panel 37 that can be carried by an operator. The operation panel 37 includes an input/output unit for inputting/outputting data, an operation unit for manually operating the automatic guided vehicle 35 and the robot 25, and a display capable of displaying a screen.

Further, the automatic guided vehicle 35 is equipped with a sensor capable of recognizing its own position in the factory (for example, a distance measurement sensor using laser light), and under the control of the control device 40, the machine tool 10 , the machine tool 10, the material stocker 21 and the product stocker 22. through each working position. Incidentally, in this example, the control device 40 is arranged inside the automatic guided vehicle 35 .

The robot 25 is an articulated robot having three arms, a first arm 26, a second arm 27 and a third arm 28, which are manipulators. , and a support member 30 is attached to the side of the third arm 28 . A pair of cameras 31 and an operation rod 32 are also mounted on the support member 30 as end effectors. In this example, when the robot 25 takes the posture shown in FIG. are arranged in parallel with the axis of Further, the operating rod 32 is provided so that its distal end portion can be expanded and contracted in the axial direction or can be elastically displaced.

Under the control of the control device 40, the robot 25 moves the hand 29, the camera 31, and the operating rod 32 within a three-dimensional space defined by the three orthogonal axes _xr , _yr , and _zr . to move. A coordinate system defined by three orthogonal axes _xr , _yr , and _zr is called a robot coordinate system. Also, in this example, the _xr axis is set substantially parallel to the front surface of the automatic guided vehicle 35 .

As shown in FIG. 2, the control device 40 includes an operation program storage unit 41, a movement position storage unit 42, an operation posture storage unit 43, a map information storage unit 44, a manual operation control unit 45, an automatic operation control unit 46, a map It is composed of an information generation unit 47 , a position recognition unit 48 and an input/output interface 49 . The control device 40 is connected to the material stocker 21 , product stocker 22 , robot 25 , automatic guided vehicle 35 and operation panel 37 via this input/output interface 49 . In addition, the control device 40 is connected to the machine tool 10, the material stocker 21, and the product stocker 22 by communication.

The control device 40 is composed of a computer including a CPU, RAM, ROM, etc. The manual operation control unit 45, the automatic operation control unit 46, the map information generation unit 47, the position recognition unit 48, and the input/output interface 49 are computer A program implements that function. The motion program storage unit 41, the movement position storage unit 42, the motion posture storage unit 43, and the map information storage unit 44 are composed of appropriate storage media such as RAM.

The manual operation control unit 45 is a functional unit that operates the unmanned guided vehicle 35 and the robot 25 according to operation signals input from the operation panel 37 by the operator. That is, the operator can manually operate the automatic guided vehicle 35 and the robot 25 using the operation panel 37 under the control of the manual operation control unit 45 .

Specifically, the manual operation control unit 45 controls, for example, the automatic guided vehicle 35 from the operation panel 37 in two orthogonal axes (x, _r , y _r axis) is input, the automatic guided vehicle 35 is moved in the direction corresponding to the input signal by the corresponding distance, and is orthogonal to the _xr axis and the _yr axis. When a signal for turning around the _zr axis (vertical axis) is input, the automatic guided vehicle 35 is turned according to the input signal.

Further, when a signal for moving the tip of the robot 25 (the hand 29, the camera 31, and the operating rod 32) in each of the directions of the _xr -axis, the _yr -axis, and the _zr -axis is input from the operation panel 37, , the manual operation control unit 45 moves the tip of the robot 25 by a corresponding distance in a direction corresponding to the input signal. Further, when a signal for opening and closing the hand 29 is input from the operation panel 37, the manual operation control unit 45 opens and closes the hand 29 in response to the input, and receives a signal for operating the camera 31 from the operation panel 37. Then, the camera 31 is operated accordingly.

The operation program storage unit 41 stores an automatic operation program for automatically operating the automatic guided vehicle 35 and the robot 25 during automatic production, and stores the automatic guided vehicle 35 when generating factory map information, which will be described later. This is a functional unit that stores a map generation program for operation. The automatic driving program and the map generating program are input from, for example, an input/output unit provided on the operation panel 37 and stored in the operation program storage unit 41 .

The automatic operation program includes command codes relating to the movement position as a target position to which the automatic guided vehicle 35 moves, the movement speed, and the orientation of the automatic guided vehicle 35. and a command code for operating the camera 31 are included. The map generation program includes command codes for causing the automatic guided vehicle 35 to travel all over the factory without a track so that the map information generation unit 47 can generate map information.

The map information storage unit 44 is a functional unit that stores map information including arrangement information of machines, devices, equipment, etc. (devices, etc.) arranged in the factory where the automatic guided vehicle 35 travels. It is generated by the map information generator 47 .

When the map information generation unit 47 causes the automatic guided vehicle 35 to travel according to the map generation program stored in the operation program storage unit 41 under the control of the automatic operation control unit 46 of the control device 40, Acquiring spatial information in the factory from the distance data detected by the sensor, and recognizing the planar shape of the equipment etc. installed in the factory, for example, based on the planar shape of the pre-registered equipment etc. The machine tool 10, the material stocker 21, and the product stocker 22 in this example, which are arranged in the factory, are recognized in terms of position, planar shape, etc. (layout information). Then, the map information generating unit 47 stores the obtained spatial information and the arrangement information of the devices, etc. in the map information storage unit 44 as map information of the factory.

The position recognition unit 48 recognizes the position and posture of the automatic guided vehicle 35 in the factory based on the distance data detected by the sensor and the map information in the factory stored in the map information storage unit 44. Based on the position and orientation of the automatic guided vehicle 35 recognized by the position recognition section 48 , the operation of the automatic guided vehicle 35 is controlled by the automatic operation control section 46 .

The movement position storage unit 42 is a movement position as a specific target position to which the automatic guided vehicle 35 moves, and is a functional unit that stores a specific movement position corresponding to the command code in the operation program. These movement positions include the work positions set for the machine tool 10, the material stocker 21, and the product stocker 22 described above. This movement position is determined, for example, by manually operating the automatic guided vehicle 35 using the operation panel 37 under the control of the manual operation control unit 45 to move it to each target position, and then performing the position recognition. It is set by the operation of storing the position data recognized by the unit 48 in the movement position storage unit 42 . This operation is called a so-called teaching operation.

The motion posture storage unit 43 stores data relating to motion postures (motion postures) of the robot 25 that sequentially change as the robot 25 moves in a predetermined order, corresponding to command codes in the motion program. is a functional unit that stores the The data relating to the motion posture is obtained when the robot 25 is manually operated by teaching operation using the operation panel 37 under the control of the manual operation control unit 45 to take each target posture. , the rotation angle data of each joint (motor) of the robot 25 in each posture, and this rotation angle data is stored in the motion posture storage unit 43 as data relating to the motion posture.

Specific motion postures of the robot 25 are set in the material stocker 21, the machine tool 10, and the product stocker 22, respectively. For example, in the material stocker 21, each work posture (each take-out posture) for taking out the unprocessed work stored in the material stocker 21 is set. In addition, in the machine tool 10, each working posture for removing the machined work from the chuck 15 and mounting the pre-machined work on the chuck 15, that is, each working posture for exchanging the work is set. Further, in the product stocker 22, each work posture is set for storing the machined work taken out from the machine tool 10 into the product stocker 22. As shown in FIG.

The automatic operation control unit 46 uses either the automatic operation program or the map generation program stored in the operation program storage unit 41, and operates the automatic guided vehicle 35, the robot 25, the hand 29, and the camera 31 according to the program. This is the functional part to operate. At that time, the data stored in the movement position storage section 42 and the motion posture storage section 43 are used as necessary.

In particular, the automatic operation control unit 46 operates the automatic guided vehicle 35, the robot 25, the hand 29, and the camera 31 according to the procedure shown in FIG.

That is, the automatic operation control unit 46 moves the automatic guided vehicle 35 to the approach position set with respect to the machine tool 10 (step S1). This approach position is a position in front of the working position set for the machine tool 10, and as shown in FIG. .

Next, the automatic operation control unit 46 drives the camera 31 to capture an image of the area including the door 16 of the machine tool 10, receives the captured image from the camera 31, analyzes the received image, and detects the door 16. is in an open state, in other words, a process (door (door body) confirmation process) for determining whether the machine tool 10 can be operated (step S2). Then, as shown in FIG. 5, when the door 16 is open, the position of the operation panel 17 is further confirmed from the image, and the processing area formed by opening the door 16 in the imaging direction (This process is referred to as operation panel confirmation processing) ( step S3).

Then, when the operation panel 17 is outside the closing position, that is, when the operation panel 17 is not in a position to close the opening of the machining area, the automatic operation control unit 46 next drives the robot system 24. Then, the machine tool 10 is caused to perform a work exchange operation (step S4).

For example, the automatic operation control unit 46 moves the unmanned guided vehicle 35 to a working position set with respect to the machine tool 10, then causes the tip of the robot 25 to enter the machining area of the machine tool 10, and chucks. 15 is gripped by the hand 29, an unclamp signal is transmitted to the machine tool 10 to cause the chuck 15 to perform an opening operation, and then the tip of the robot 25 is moved within the machining area. , and the machined workpiece gripped by the hand 29 is placed on the placement surface 36 of the automatic guided vehicle 35 .

Next, the automatic operation control unit 46 causes the hand 29 to grip the unprocessed workpiece, which is previously taken out from the material stocker 21 and placed on the placing surface 36 of the automatic guided vehicle 35, and then moves the tip of the robot 25. part is moved into the machining area of the machine tool 10 to position the pre-machining workpiece at the gripping position of the chuck 15, then a clamp signal is sent to the machine tool 10 to cause the chuck 15 to execute the closing operation and chuck the workpiece. 15 to grip the pre-machining workpiece, and then the tip of the robot 25 is withdrawn from the machining area.

After causing the robot system 24 to perform the work exchange operation as described above, the automatic operation control unit 46 sets the camera 31 provided at the tip of the robot 25 to the imaging posture, and then drives the camera 31. , captures an image including the operation panel 17 and receives the obtained image from the camera 31 . Then, after analyzing the received image and recognizing the position of the start button 19 provided on the operation panel 17, the automatic operation control unit 46 operates the robot 25 to move the tip of the operation rod 32 to the start button 19. to cause the machine tool 10 to perform machining (step S5).

The operation panel 17 is provided with an identification graphic 20 so as to have a predetermined positional relationship with respect to the start button 19, and the automatic operation control unit 46 recognizes the position of this identification graphic 20 by image analysis, The position of the start button 19 is recognized based on the position of the identification figure 20 . The camera 31 is a so-called stereo camera, and the relative positional relationship between the camera 31 and the identification figure 20 can be calculated by analyzing the image captured by the stereo camera 31 .

Next, the automatic operation control unit 46 drives the camera 31 again to capture an image including the door 16 of the machine tool 10, receives the captured image from the camera 31, and analyzes the received image. It is checked whether the door 16 is closed (step S6), and if the door 16 is closed, it is determined that the machine tool 10 is normally performing machining, and the machine tool 10 is operated. finish work on On the other hand, if it is determined in step S6 that the door 16 is open, it is determined that the machine tool 10 has an abnormality. After completing the work on the object, another work, for example, work on another work object (such as a machine tool) is performed.

If it is determined in step S2 that the door 16 of the machine tool 10 is not open (see FIG. 6), the automatic operation control unit 46 further determines whether it is the first confirmation (step S7), if it is the first confirmation, next, after the camera 31 captures an image of the machining area through the window 16a (step S8), the image received from the camera 31 is analyzed, and the workpiece is recognized, and the remaining machining time is estimated from the obtained workpiece shape (step S9). Wait (step S7), and if the remaining machining time exceeds the threshold (reference time), finish the work on the machine tool 10 (step S10), and perform other work.

During the reference time, the robot system 24 does not perform other work, but waits on the spot, and after the machining in the machine tool 10 is completed, the machine tool 10 performs a work exchange operation. The amount of time it is determined to be more efficient to do, and is set empirically. In addition, the shape of the workpiece can be recognized by extracting the contour of the workpiece from the captured image, and the remaining machining time can be determined from the relationship between the shape of the workpiece obtained in advance and the remaining machining time by, for example, a pattern matching method. can be estimated.

Further, in step S3, when it is determined that the operation panel 17 is in the closed position, the automatic operation control unit 46 recognizes the position of the handle 18 provided on the operation panel 17 from the captured image. After that, the robot 25 is operated to engage the hand 29 with the handle 18, and then the robot 25 is operated to move (retreat) the operation panel 17 to the outside of the closed position ( Step S11), the robot system is caused to execute a work exchange operation (step S4).

As described above, the identification graphic 20 is provided on the operation panel 17, and this identification graphic has a predetermined positional relationship with respect to the handle 18. Therefore, after recognizing the position of this identification figure by image analysis, the automatic driving control unit 46 recognizes the position of the handle 18 based on the position of this identification figure. Also, the relative positional relationship between the camera 31, in other words, the hand 29 and the identification figure can be calculated by analyzing the image.

According to the production system 1 of the present example configured as described above, the robot system 24 automatically operates under the control of the automatic operation control unit 46 of the control device 40, and automatically operates the operation program stored in the operation program storage unit 41. A program for automatic operation is executed, and the automatic guided vehicle 35 and the robot 25 are operated according to this program for automatic operation, and unmanned automatic production is executed.

When the robot system 24 performs work on the machine tool 10, it first checks whether the machine tool 10 is in the waiting state by checking whether the door 16 of the machine tool 10 is in the open state. If it is determined that the machine tool 10 is in a waiting state because the door 16 is open, the robot 25 is operated to perform a work exchange operation for the machine tool 10. As configured to run, the robot 25 can work on the machine tool 10 in an autonomous manner.

As described above, the robot system 24 of the present example can work on the machine tool 10 in an autonomous state. , can be realized at low cost. Incidentally, depending on the content of the work, the robot system 24 can also perform work on a machine tool that does not have a communication function.

Further, in the robot system 24 of this example, after confirming that the door 16 is open, the position of the operation panel 17 is confirmed, and if it is confirmed that the operation panel 17 is not in the closed position, or When the operation panel 17 is in the closed position, the operation panel 17 is retracted out of the closed position, and then the work exchange operation is executed. and the operation panel 17 can be prevented from interfering with each other.

In addition, in the robot system 24 of this example, when the door 16 is not in the open state, the camera 31 captures an image of the machining area through the window 16a, analyzes the obtained image, and calculates the remaining machining time of the workpiece. is estimated, and if the estimated remaining machining time is within a preset reference, the automatic guided vehicle 35 and the robot 25 are kept waiting at the approach position until the machining in the machine tool 10 is completed. Therefore, the operating efficiency of the robot system 24 can be enhanced.

(Second embodiment)
Next, a second embodiment of the invention will be described. As shown in FIG. 7 , the production system 100 of this example is composed of a robot system 24 and a machine tool 101 . The robot system 24 has the same configuration as that of the first embodiment described above.

The machine tool 101 of this example is a so-called horizontal machining center, and includes a bed 102, a column 103, a spindle head 104, a table 105, a pallet changer 120, and the like. The pallet exchange device 120 is composed of a pallet table 121, an exchange arm 122, and the like. are exchanged.

In the machine tool 101, the bed 102 and the space above it are surrounded by a cover body 109, and the column 103, the table 105, the pallet table 121, the exchange arm 122, etc. are closed by the cover body 109. It is located in a space. A partition plate 123 is erected on the upper surface of the exchange arm 122, and the space surrounded by the cover body 109 is defined by the partition plate 123 as a processing area where the column 103 and the table 105 are provided. and the outside of the processing area where the pallet table 121 is provided.

A setup station is configured by the pallet table 121, the cover body 109 and the partition plate 123 surrounding them. Two doors 110 for opening and closing are provided in a portion facing the partition plate 123 in the cover body 109 constituting the setup station (see FIG. 8). Workpieces can be attached to and detached from the jig J provided on the pallet P on the pallet table 121 through the opening.

As shown in FIG. 8, an operation panel 125 is provided on the right side of the door 110. The operation panel 125 has an open button 126 for opening the door 110 and a button for closing the door 110. and a setup completion button 128 for inputting completion of setup. Graphic 129 is provided.

In this production system 100, when the robot system 24 performs a work exchange operation for the setup station of the machine tool 101, the automatic operation control unit 46 controls the automatic guided vehicle 35, the robot 25, the hand 29, and the camera 31. It is operated according to the procedure shown in FIG.

That is, the automatic operation control unit 46 first moves the automatic guided vehicle 35 to the work position set for the setup station (step S21), and then drives the camera 31 to move the door 110 of the machine tool 101. By taking an image of the area and receiving and analyzing the obtained image from the camera 31, it is determined whether or not the door 110 is in an open state, in other words, whether or not the pallet P in the setup station can be operated. A process (door (door body) confirmation process) is executed (step S22). Then, when the door 110 is open, the automatic guided vehicle 35 and the robot 25 are driven to execute the set work exchange operation for the pallet P on the pallet placing table 121 (step S23). . For example, after removing the work machined by the robot 25 from the jig J on the pallet P and placing it on the mounting surface 36 of the unmanned guided vehicle 35, it is similarly placed on the mounting surface 36 in advance before processing. is gripped by the robot 25 and mounted on the jig J on the pallet P. Note that this work exchange operation is executed by coordinated operation between the robot system 24 and the machine tool 101 .

After causing the unmanned guided vehicle 35 and the robot 25 to perform the work exchange operation as described above, the automatic operation control unit 46 sets the camera 31 provided at the tip of the robot 25 to the imaging posture, and then the camera 31 is driven to capture an image including the operation panel 125, and after receiving the obtained image from the camera 31, the position of the close button 127 provided on the operation panel 125 is recognized from this image, and then, The robot 25 is operated to press the tip of the operating rod 32 against the close button 127 to close the door 110 (step S24).

As described above, the operation panel 125 is provided with the identification graphic 129 so as to have a predetermined positional relationship with respect to the close button 127, and the automatic operation control unit 46 detects the identification graphic 129 by image analysis. After recognizing the position of , the position of the close button 127 is recognized based on the position of the identification figure 129 . Further, as described above, the camera 31 is a so-called stereo camera, and by analyzing the image captured by the stereo camera 31, the relative positional relationship between the camera 31 and the identification figure 129 can be calculated. can be done.

Next, the automatic driving control unit 46 drives the camera 31 again to capture an image including the door 110, receives the captured image from the camera 31, analyzes the received image, and closes the door 110. If the door 16 is closed, it is determined that the machine tool 101 is in a normal state, and the tip of the operating rod 32 of the robot 25 is stepped. By pressing the completion button 128 (step S26), the work on the machine tool 101 is completed. On the other hand, if it is determined in step S25 that the door 110 is open, it is determined that the machine tool 101 has an abnormality. Finish working on , and do other work. Further, even if it is confirmed in step S22 that the door 110 is in the closed state, it is impossible to work on the pallet P in the setup station, so the work on the machine tool 101 is terminated. , to do other work.

According to the production system 100 of this example configured as described above, when the robot system 24 performs work on the machine tool 101, first, whether or not the door 110 of the machine tool 101 is open is checked. is checked to determine whether or not the setup station can be operated. When it is determined that the setup station can be operated because the door 110 is open, the robot 25 is operated. Therefore, the robot 25 can work on the machine tool 101 in an autonomous state.

As described above, the robot system 24 of the present example can work on the machine tool 101 in an autonomous state. , can be realized at low cost.

Although the specific embodiments of the present invention have been described above, the aspects that the present invention can take are not limited to the above examples.

For example, in the above example, the

machine tools

10 and 101 were illustrated as objects on which the robot system 24 works, but the work objects to which this robot system 24 can be applied are limited to

such machine tools

10 and 101. It may be other machine tools, devices other than machine tools, or machines.

Also, the robot system 24 is not limited to the configuration of the above example, and other configurations can be applied.

Again, the above description of the embodiment is illustrative in all respects and is not restrictive. Modifications and modifications are possible for those skilled in the art. The scope of the invention is indicated by the claims rather than the above-described embodiments. Furthermore, the scope of the present invention includes modifications from the embodiments within the scope of claims and equivalents.

1 production system 10 machine tool 16 door (door body)
16a window portion 17 operation panel 21 material stocker 22 product stocker 24 robot system 25 robot 29 hand 31 camera 32 operation rod 35 unmanned guided vehicle 40 control device 41 operation program storage unit 42 movement position storage unit 43 operation posture storage unit 44 map information storage Unit 45 Manual operation control unit 46 Automatic operation control unit 47 Map information generation unit 48 Position recognition unit

Claims

a robot having a camera that captures an image and an end effector that acts on a work object;
An automatic guided vehicle equipped with the robot and passing through a work position set for the work object;
A robot system comprising the automatic guided vehicle and a control device that controls the robot,
The work object has a door that separates a work area set inside from the outside and opens and closes an opening that communicates the work area with the outside,
the work position set for the work object is a position where the end effector of the robot can enter the work area;
The control device is
A door body confirmation process of passing the unmanned guided vehicle to a work position, capturing an image of the door body with the camera, and confirming whether or not the door body is in an open state based on the obtained image;
When it is confirmed that the door is in the open state, the robot is operated to perform work using the end effector in the work area,
Furthermore, after executing the door body confirmation process and confirming that the door body is in the open state, and before starting the work process, based on the imaged image, the opening is detected in the imaging direction. Execute operation panel confirmation processing for confirming whether or not the operation panel is at a closed position, which is a position that blocks at least a part of the operation panel. A robot system characterized by being configured to:
When it is confirmed in the operation panel confirmation process that the operation panel is in the closed position, the control device is provided on the operation panel based on the imaged image before starting the work process. After recognizing the grip that has been pulled and engaging the end effector with the grip, operation panel evacuation processing is executed to move the operation panel to the outside of the closed position. The robot system according to claim 1.
the work object is a machine tool, the machine tool configured to machine a workpiece within the work area;
3. The robot system according to claim 1, wherein said control device is configured to cause said robot to perform work of exchanging works within said work area in said work processing.
The control device is configured to operate the robot after executing the work processing, and press a processing start button provided on the operation panel using the end effector. 4. The robot system according to claim 3.
The machine tool has a viewing portion made of a transparent member on its door body, and is configured so that the work area can be observed from the outside through the viewing portion,
When it is confirmed in the door body confirmation process that the door body is in a closed state, the control device captures an image of the inside of the work area through the visual recognition unit with the camera, and analyzes the obtained image. 5. The robot system according to claim 3 or 4, further configured to execute machining time estimation processing for estimating a remaining machining time until machining of the workpiece is completed.
After executing the machining time estimation process, if the estimated remaining machining time is shorter than a predetermined reference time, the control device causes the automatic guided vehicle to wait at the work position, and the remaining machining time is 6. The robot system according to claim 5, wherein the robot system is configured to move from the work position to another work position when the time is longer than the reference time.
The work object is a pallet exchange device, and a pallet is arranged in the work area,
3. The robot system according to claim 1, wherein, in the work process, the control device causes the robot to perform the work of exchanging the work attached to the pallet within the work area.
After completing the work processing, the control device recognizes a door close button provided on the operation panel for closing the door body based on the imaged image, and presses the door close button using the end effector. 8. The robot system of claim 7, wherein the robot system is configured to: