JP3518584B2 - Production system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a production system that effectively utilizes the functions of a robot device.

[0002]

2. Description of the Related Art As an example of a conventional production system, a general-purpose machine such as a press machine or a molding machine, a processing unit specially designed and manufactured according to the shape of a work or a processing content, and a belt conveyor are used. It is configured in combination with a robot device for supplying the supplied parts to a general-purpose machine or a processing unit and discharging the processed work to a belt conveyor or the like.

[0003]

By the way, a dedicated processing unit requires a plurality of actuators, a sensor for dimension control, and the like, so that the structure is complicated and the cost is high. Further, since the dedicated processing unit is designed and manufactured exclusively, the versatility is low due to the restriction of the work shape, and it is not possible to easily deal with the change of the work. Further, the conventional production system has a high ratio of work transfer processes such as a belt conveyor, and thus has a drawback that the initial investment amount is high and it cannot be recycled.

On the other hand, although the robot apparatus has high versatility, in the conventional production system, the work supplied to the belt conveyor is supplied to the general-purpose machine or the processing unit, and the processed work is simply discharged to the belt conveyor. However, there is a drawback that the function is not fully utilized.

Specifically, FIG. 8 shows an example of the cleaning unit. In FIG. 8, the robot apparatus 1 sets the work 3 conveyed by the conveyor 2 on the Pareto loader 4 of the cleaning unit. The work 3 is shower-cleaned by moving the pallet loader 4 in the cleaning chamber 5, and the cleaning liquid for the work 3 is removed by moving the work 3 in the air blow chamber 6.

However, with such a configuration, the equipment becomes large and complicated, resulting in high cost. In addition, since the posture of the work 3, the direction of the cleaning, the cleaning conditions such as the speed, and the air blowing conditions are fixed, there is a problem that the cleaning in conformity with the work 3 cannot be performed. Further, the robot apparatus 1 merely moves the work 3 between the belt conveyor 2 and the pallet loader 4, and there is a drawback that the function thereof is not fully utilized.

On the other hand, FIG. 9 shows an example of a terminal mounting unit for a work. In this FIG.
The robot device 7 is the work 3 supplied from the conveyor 8.
Is chucked with a hand and set on the delivery jig 9. Subsequently, the work 3 is chucked by the loader 10 and then set on the work receiving jig unit 11. At this time, the press-fitting check unit 12 turns the terminal (not shown) pressed by the terminal press 13 while being chucked by the hand part, and then attaches the terminal to the work 3 by protruding the hand part. At this time, the press-fitting check unit 12 adjusts the press-fitting position of the terminal with respect to the work 3. Then, the work 3 having the terminals attached is loaded into the loader 10
When the robot device 7 transfers the work 3 to the delivery jig 9, the robot device 7 ejects the work 3.

However, with such a configuration, the robot apparatus 7 simply supplies the work 3 conveyed by the conveyor 8 to the mounting unit and carries out the work, which has been processed by the mounting unit, to the conveyor 8. Therefore, there is a drawback that the transfer function or the position control function of the robot apparatus 7 and the posture control function are not effectively used.

On the other hand, FIG. 10 shows an example of a press-fitting unit. In FIG. 10, the robot device 14 inserts the work supplied by the conveyor 15 into a case (not shown) preset in the jig 16. continue,
Pressing device 16 for receiving jig 16 by air cylinder 17
8, the press device 18 is driven to apply a pressure input to the work 3 to integrate the work and the case.

Then, the dimensions of the workpiece press-fitted into the case are inspected by the linear scale 19 and then the receiving jig 16
Is slid by the air cylinder 17, and the work 3 is taken out by the robot device 14.

However, in such a structure, the linear scale 19 is necessary because the dimensional control cannot be performed only by the press device 18. In this case, although the work 3 can be press-fitted into the case at a constant size by using the contact stopper, in order to cope with various types of press-fit dimensions, the contact stopper must be replaced with one that matches the press-fit dimension. However, the workability is extremely poor.

The present invention has been made in view of the above circumstances, and an object thereof is to effectively utilize the functions of a robot apparatus, thereby reducing the initial investment amount and enabling recycling of equipment. To provide.

[0013]

According to the invention of claim 1, when the robot apparatus is supplied with the work from the previous step,
The work is chucked and discharged to the subsequent process. here,
A predetermined processing unit is arranged along the transfer path of the work by the robot apparatus, and the robot apparatus sets the work in the processing unit in the process of transferring the work .
In this state, drive force is applied to the processing unit to move it.
Let me make it. As a result, the robot apparatus can perform a predetermined process on the work in cooperation with the processing unit. Then, the robot apparatus discharges the work, which has been subjected to the predetermined processing by the cooperative operation of the processing units, to the subsequent process.

Therefore, since the work can be subjected to a predetermined process in the process of transferring the work supplied from the previous process to the subsequent process by the robot device, the operation of sequentially transferring the work by the plurality of robot devices is executed. As a result, it is possible to sequentially perform the predetermined processing on the work.

According to the second aspect of the present invention, since the current position of the robot apparatus can be detected by the position detection function provided in the robot apparatus, it is not necessary to provide the processing unit with dimension inspection means, and the processing unit can be installed. The configuration can be simplified.

According to the third aspect of the present invention, when the work is processed by the processing unit, the robot apparatus applies the driving force to the processing unit after setting the work at a predetermined position of the processing unit in the process of transferring the work. Therefore, the processing unit processes the workpiece. And
The robot apparatus takes out the processed work and discharges it to the subsequent process. Therefore, since power can be applied to the processing unit from the robot apparatus, the structure of the processing unit can be simplified.

According to the fourth aspect of the present invention, when the parts are mounted on the work, the robot device moves in a state where the work is set on the work receiving jig in the process of transferring the work, and therefore the robot device is positioned at a predetermined position. The workpiece can be pressed against the attached component to mount the component on the workpiece.
Therefore, since no power source is required for the work receiving jig,
The structure of the work receiving jig can be simplified.

According to the fifth aspect of the present invention, when the work is pressed, the robot apparatus is provided at the tip of the arm of the rack press with the work set in the rack press in the process of conveying the work . Cam follower
Since it is pushed right below, a pressing force can be applied to the work. Therefore, since the rack press does not require a power source, the structure of the rack press can be simplified.

[0019]

[0020]

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a perspective view of the overall configuration. In FIG. 1, processing units mainly including a robot device are arranged in the order of steps. These processing units include a cleaning unit 21, a terminal mounting unit 22, a visual check unit 23,
The press-fitting unit 24, and these units 21 to 24
Will be described in order.

FIG. 2 shows the cleaning unit 21. In FIG. 2, the cleaning unit 21 is a robot device 25.
The transfer jig 26 from the previous process is provided at a position corresponding to the robot device 25, and the transfer jig 27 to the subsequent process is provided.

In this case, the robot device 25 is provided between the delivery jig 26 from the previous process and the delivery jig 27 to the subsequent process.
A cleaning tank 28 and an air blow nozzle 29 (corresponding to an air blow device) are installed along the movement locus of the hand portion 25a.

The robot device 25 chucks the work 30 having a predetermined shape set on the delivery jig 26 from the previous process by the hand portion 25a and sets it on the delivery jig 27 to the subsequent process. Washing tank 28
After the dip cleaning inside, the cleaning liquid is removed by the air blow nozzle 29.

FIG. 3 shows the terminal mounting unit 22. In FIG. 3, the terminal mounting unit 2
2 mainly comprises a robot device 31, and a delivery jig 27 from the previous process (a delivery jig 27 to the subsequent process of the cleaning unit 21) is located at a position corresponding to the robot device 31. , Delivery jig 3 to the subsequent process
Two are provided.

In this case, the robot device 31 is provided between the delivery jig 27 from the previous process and the delivery jig 32 to the subsequent process.
The workpiece receiving jig 3 along the movement trajectory of the hand portion 31a of the
3 is provided. The work receiving jig 33 is slidably provided so as to come into contact with the terminal press 34 when the work 30 is set.

The robot device 31 chucks the work 30 set on the delivery jig 27 from the previous process with the hand portion 31a and then sets it on the work receiving jig 33, and in the state where the work 30 is chucked. The mounting process is performed by pressing the processed terminal with the terminal press 34. The terminal press 34 is for processing a terminal having a predetermined shape by bending a part punched into a predetermined shape.

On the other hand, as shown in FIG.
A flux bath 35 and a solder bath 36 are provided corresponding to the above. The flux tank 35 and the solder tank 36 are jet type, and the flux tank 35 jets the flux from the jet port, and the solder tank 36 jets the solder from the jet port.

In this case, the robot apparatus 31 positions the terminal mounted on the work 30 chucked by the hand portion 31a in the flux jet of the flux tank 35 and then in the solder jet of the solder tank 36. It is designed to perform soldering to the terminal by positioning it at.

FIG. 4 shows the visual checking unit 23. In FIG. 4, the visual check unit 23 is mainly configured by a robot device 37, and a delivery jig 32 from the previous process (a delivery jig in the post process of the terminal mounting unit 22 is provided at a position corresponding to the robot device 37. 32) is located, and a delivery jig 38 to the subsequent process is provided.

In this case, the robot device 37 is provided between the delivery jig 32 from the previous process and the delivery jig 38 to the subsequent process.
A camera 39 is installed along the movement locus of the hand portion 37a.

In addition, the robot unit 37 includes a hand unit 37.
By changing the position and the posture of the work 30 chucked by, the work 30 is photographed by the camera 39 from multiple directions.

FIG. 5 shows the press-fitting unit 24. In FIG. 5, the press-fitting unit 24 is a robot device 40.
The delivery jig 38 from the previous process (the delivery jig 38 to the subsequent process of the visual check unit 23) is located at a position corresponding to the robot device 40, The delivery jig 41 is provided.

In this case, a rack press 42 is installed between the delivery jig 38 from the previous process and the delivery jig 41 in the subsequent process along the movement trajectory of the hand portion 40a of the robot device 40.

The structure of the rack press 42 will be described below with reference to FIGS. 6 and 7. Figure 6 shows the rack press 4
2 is a side view, and FIG. 7 is a plan view of the rack press 42.
6 and 7, a rack 44 is mounted on the support block 43 so as to be vertically movable in a state where the rack 44 is stopped by a rotation stop key 45, and a pinion 46 is rotatably supported. The rack 44 moves up and down according to the rotation of the pinion 46.

Here, a base end portion of an arm 47 is fixed to the pinion 46, and a cam follower 48 is attached to a tip end portion of the arm 47. Also, the rack 44
A punch 49 is attached to the lower end of the. in this case,
The rack 44 is urged upward by a compression coil spring 50, and the urging force moves the punch 49 upward.

Next, the operation of the above configuration will be described. When the work 30 is supplied to the delivery jig 26 from the previous step in the cleaning unit 21, the robot device 25 chucks the work 30 with the hand portion 25 a and immerses the work 30 in the cleaning liquid in the cleaning tank 28. At this time, the robot device 25 moves the work 30 up and down and rotates it, so that the entire work 30 can be reliably washed.

Subsequently, the robot device 25 is operated by the hand unit 2
The work 30 chucked by 5a is positioned in the air blow area of the air blow nozzle 29. At this time, since the robot device 25 moves the work 30 up and down and rotates it, the cleaning liquid and the cutting chips adhering to the whole work 30 can be reliably removed. And
The robot device 25 sets the work 30 for which the cleaning process has been completed on the delivery jig 27 for the subsequent process.

When the work 30 is set on the delivery jig 27 from the previous step of the terminal mounting unit 22 as described above, the robot device 31 operates the delivery jig 27.
The work 30 set in the above is chucked by the hand portion 31a and set in the work receiving jig 33. At this time, when the terminal is processed and formed by the terminal press 34 (the mold is closed in this state, and a part of the terminal is projected from the mold), the robot device 31 receives the work receiving member. With the work 30 set on the jig 33 chucked, the hand portion 31a
The work receiving jig 33 is slid to move the work 30 against the terminal. As a result, the terminal is mounted on the terminal mounting portion (not shown) provided on the work 30. In this case, the mounting position of the terminal with respect to the work 30 can be adjusted using the position detection function of the robot device 31. When a plurality of terminal mounting portions are provided, the robot device 31
The above-described press-fitting operation is repeated with the setting direction of the work 30 relative to the work receiving jig 33 changed.

Then, the robot device 31 operates the work 30.
When the terminals have been mounted on all the terminal mounting parts provided in the work receiving jig 3 while the work 30 is chucked by the hand part 31a.
No. 3, and the terminal attached to the work 30 is positioned in the flux jet of the flux tank 35 to attach the flux to the terminal, and then the terminal is placed in the solder jet of the solder tank 36 to solder the terminal. Attach. Then, the robot device 31 sets the work 30 chucked by the hand portion 31a on the delivery jig 32 for the subsequent process.

As described above, the visual check unit 2
When the work 30 is set on the delivery jig 32 from the previous step in 3, the robot device 37 chucks the work 30 set on the delivery jig 32 with the hand portion 37a and moves the work 30 to the front of the camera 39. The work 30 is photographed from multiple directions by the camera 39 by sequentially changing the position and posture of the work 30 in the state of being positioned. Then, the robot device 37 uses the camera 39 to work 30.
When the pass / fail judgment is completed, the work 30 is set on the work delivery jig 38 for the subsequent process.

When the work 30 is set on the delivery jig 38 from the previous step in the press-fitting unit 24 as described above, the robot device 40 moves the work 30 set on the delivery jig 38 to the hand portion 40a. After chucking with, the rack press 42 is inserted into a case 51 set in advance (see FIG. 5).

Subsequently, the rack press 4 is operated by the hand section 40a.
A cam follower 48 provided at the tip of the second arm 47
Press down. Then, the arm 47 is pushed down and the rack 44 is lowered, so that the work piece 30 is pushed down by the punch 49 and press-fitted into the case 51.

In this case, since the robot device 40 has a position detecting function, the work 3 can be moved to an arbitrary position by controlling the pushing stroke of the hand portion 40a.
0 can be press-fitted into the case 51. When the robot device 40 has a torque detection function, the work 30 can be press-fitted into the case 51 at a constant pressure, and abnormal press-fitting can be detected to interrupt the press-fitting.

When the press fitting of the work 30 into the case 51 is completed as described above, the work 30 is chucked by the hand portion 40a and set on the delivery jig 41 for the subsequent process.

The above operation is performed by each robot device 25, 31,
By repeating 37 and 40, it is possible to press-fit the work 30 with the soldered terminals attached thereto into the case 51 to complete the product.

Each of the above-mentioned robot devices 25, 31, 3
As a result of configuring each processing unit mainly consisting of 7,40,
In the present embodiment, the following effects can be obtained for each unit.

(1) In the cleaning unit 21, the posture of the work 30 is changed by the flexible operation of the robot device 25.
It becomes easy to change conditions such as the cleaning method, cleaning direction and speed, and ideal cleaning becomes possible. Therefore, since the cleaning unit 21 can be configured mainly by the general-purpose robot device 25, the configuration is simplified as compared with the configuration using the conventional cleaning chamber 5 and the air blow chamber 6 shown in FIG. In addition, the facility cost can be significantly reduced and the maintainability is excellent.

(2) In the terminal mounting unit 22,
Since the terminal of the work device 30 can be mounted by using the force of the robot device 31 and the mounting position of the terminal with respect to the work device 30 can be determined by using the position detection function of the robot device 31, the conventional configuration shown in FIG. 9 can be simplified. Can be converted.

(3) In the visual check unit 23, the work 30 can be photographed from multiple directions by using one camera 39, as compared with the configuration in which the work 30 is photographed from multiple directions by a plurality of cameras. , Robot device 37
It is possible to reliably determine the quality of the work 30 with a simple configuration mainly including.

(4) In the press-fitting unit 24, only the rack press 42 having a simple structure is manufactured.
Since the driving force is applied while the work 30 is set by the robot device 40 in FIG. 2, the rack press 42 can be manufactured at low cost, and FIG.
It is possible to simplify the conventional configuration shown in FIG. Also,
The case 51 using the position detection function of the robot device 40
Since the press-fitting position of the work 30 with respect to is determined, the conventional linear scale 19 shown in FIG. 10 can be omitted.

In this case, the arm 47 of the rack press 42
The maximum pressure input can be increased by changing the total length of. Further, since the arm 47 is long, the robot device 4
When the hand unit 40a of 0 is pushed straight downward, if the hand unit 40a comes off from the cam follower 48 provided at the tip of the arm 47, the hand unit 40a of the robot device 40 is moved to the locus of movement of the cam follower 48. This can be dealt with by controlling the position so as to follow.

In addition, each robot device 25, 31, 37,
The common effect of 40 is that the robot devices 25, 31,
Since 37 and 40 deliver the work 30 by using a delivery jig, a conveyor for conveying the work 30 to a subsequent process is not required, the overall configuration can be simplified and the installation space can be significantly reduced. be able to. Further, since the robot devices 25, 31, 37, 40 are general-purpose devices that are generally commercially available, the recycling rate can be increased. In addition, since the work can be allocated and added / changed only by changing the jig, the robot hand and the program, it is possible to cope with a short delivery time and low cost.

The present invention is not limited to the above embodiment, but can be modified or expanded as follows. 1 if the movable range of the hand part of the robot device is large
You may make it perform several processes by one robot apparatus. In this case, it is possible to reduce the number of man-hours required for the robot device in the pre-process to transfer the work to the post-process, so that the overall configuration can be further simplified.

[0055] In addition, the robot but it may also be passed directly without using a jig.

[Brief description of drawings]

FIG. 1 is a perspective view showing an overall configuration according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a cleaning unit.

FIG. 3 is a perspective view showing a terminal mounting unit.

FIG. 4 is a perspective view showing a visual check unit.

FIG. 5 is a perspective view showing a press-fitting unit.

FIG. 6 is a side view of the rack press.

FIG. 7 is a plan view of the rack press.

FIG. 8 is a perspective view showing a cleaning unit in a conventional example.

FIG. 9 is a perspective view showing a mounting unit.

FIG. 10 is a perspective view showing a press-fitting unit.

[Explanation of symbols]

21 is a cleaning unit, 22 is a terminal mounting unit,
23 is a visual check unit, 24 is a press-fitting unit, 2
5 is a robot device, 28 is a cleaning tank, 29 is an air blow nozzle (air blowing device), 30 is a work, 31 is a robot device, 33 is a work receiving jig, 34 is a terminal press, 35 is a flux tank, and 36 is solder. Tank, 37 robot device, 39 camera, 40 robot device, 4
2 is a rack press and 51 is a case.

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takayuki Suzuki, 1-1, Showa-machi, Kariya city, Aichi prefecture, Denso Co., Ltd. (72) Inventor, Shigeyuki Miura, 1-1, Showa-machi, Kariya city, Aichi prefecture, Denso company ( 56) References JP-A-7-161562 (JP, A) JP-A-8-267328 (JP, A) JP-A-60-118475 (JP, A) JP-A-6-55484 (JP, A) JP-A-6-55484 (JP, A) Flat 8-290350 (JP, A) Actual development Sho 61-31593 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B23P 19/00-21/00 B23Q 41/02 B25J 13 / 00

Claims (5)

(57) [Claims] With 1. A plurality arranged in order of processes robotic device for discharging the post-process by conveying chucks the supplied workpiece from the previous step, the power along the conveying path of the workpiece by the robot device
A predetermined processing unit having no source is arranged, and the robot apparatus drives the workpiece being transferred to the processing unit with the workpiece set in the processing unit.
A production system characterized in that a predetermined process is performed by a cooperative operation by operating by applying power. 2. The robot apparatus is provided with an operation stroke for the processing unit by a position detection function provided in itself.
The production system according to claim 1, wherein the roque is controlled . 3. The processing unit is configured to process the work set at a predetermined position by applying a driving force, and the robot apparatus sets the work at the predetermined position of the processing unit. 3. The production system according to claim 1, wherein the work is processed by applying a driving force to the processing unit. 4. The processing unit is configured by providing a work receiving jig that is slidable so as to abut against a component positioned at a predetermined position, and the robot apparatus includes the work receiving jig on the work receiving jig. 3. The production system according to claim 1, wherein the component is press-fitted to the work by sliding the work receiving jig with the work set. 5. The processing unit is a rack press having no power source, and the robot apparatus is installed at a tip of an arm of the rack press with the work set on the rack press.
The production system according to claim 1 or 2, wherein a pressing force is applied to the work by pressing the scraped cam follower right below .