WO2014157189A1

WO2014157189A1 - Automatic processing device, automatic processing method, and pallet

Info

Publication number: WO2014157189A1
Application number: PCT/JP2014/058252
Authority: WO
Inventors: 忠雄高木; 智宣百瀬; 孝文宮川; 克幸猪股
Original assignee: 株式会社ニコン
Priority date: 2013-03-26
Filing date: 2014-03-25
Publication date: 2014-10-02
Also published as: JPWO2014157189A1; CN108907701A; JP6601532B2; CN108942205A; CN105263670B; JP6337884B2; JP6870713B2; JP2018158440A; JP2020078863A; CN105263670A; CN108942205B

Abstract

The automatic processing device is provided with: multiple processing units for performing specified processes on an optical device having an aperture through which light beams enter; a mounting platform on which the optical device is mounted as a unit with a pallet on which the optical device is fixed; and an arm robot for raising the optical device as a unit with the pallet from the mounting platform, sequentially attaching the optical device as a unit with the pallet on the multiple processing units, and returning the optical device, after completion of the specified processes, as a unit with the pallet to the mounting platform.

Description

Automatic processing apparatus, automatic processing method, and pallet

The present invention relates to an automatic processing apparatus and an automatic processing method for automatically performing a predetermined process on a workpiece, and a pallet used for the automatic processing and the automatic processing method.

An assembly device that automatically assembles workpieces with an articulated arm robot is known (see Patent Document 1). The assembly apparatus carries the parts placed on the supply tray to the assembly area, assembles the workpieces in the assembly area, and carries the assembled workpieces to the storage area.

Japanese Unexamined Patent Publication No. 2011-115877

However, there are not many proposals for an apparatus that automatically adjusts or inspects a work after assembly, and in particular, an apparatus that performs automatic adjustment and automatic inspection on a plurality of works in parallel is desired.

According to the first aspect of the present invention, the automatic processing device is optically integrated with a plurality of processing devices that perform predetermined processing on an optical device having an opening through which a light beam enters, and a pallet on which the optical device is fixed. A mounting table on which the apparatus is mounted, and the optical apparatus is lifted integrally with the pallet from the mounting table, and the optical apparatus is sequentially replaced integrally with the pallet with respect to a plurality of processing apparatuses, and the optical apparatus on which predetermined processing has been completed is mounted. And an arm robot that returns the pallet together with the pallet.
According to the second aspect of the present invention, in the automatic processing apparatus according to the first aspect, the arm robot causes the opening of the optical device to face each processing device of the plurality of processing devices, and the optical device to the plurality of processing devices. On the other hand, it is preferable that the optical device is mounted on each processing device via a pallet when sequentially changing, and the plurality of processing devices perform predetermined processing via the opening of the pallet on the sequentially mounted optical device. .
According to the third aspect of the present invention, in the automatic processing apparatus according to the second aspect, the arm robot performs the process of sequentially replacing the optical device with the pallet in order with respect to the plurality of processing devices for each of the plurality of optical devices. Accordingly, it is preferable that the arm robot performs an operation of moving each of the plurality of optical devices integrally with the pallet and an operation of attaching / detaching the plurality of optical devices to each of the plurality of processing devices.
According to the fourth aspect of the present invention, it is preferable that the automatic processing apparatus according to the third aspect further includes an input port and a delivery port. The mounting table has a transport function for transporting the optical device integrally with the pallet from the input port to the delivery port through the movable range of the arm robot.
According to a fifth aspect of the present invention, in the automatic processing device according to the fourth aspect, the arm robot includes a first arm robot and a second arm robot, and the first arm robot has a plurality of processing devices for a plurality of processing devices. After performing the process of sequentially replacing the first optical device of the optical device integrally with the pallet, the first optical device is transported to the movable range of the second arm robot by the mounting table, and among the plurality of optical devices When the second optical device is transferred to the movable range of the first arm robot by the mounting table, the second arm robot performs a process of sequentially replacing the first optical device integrally with the pallet with respect to the plurality of processing devices. The first arm robot preferably performs a process of sequentially replacing the second optical device integrally with the pallet with respect to the plurality of processing devices.
According to the sixth aspect of the present invention, in the automatic processing device according to the fifth aspect, the first automatic processing device and the second automatic processing device, both of which are automatic processing devices, are arranged adjacent to each other, and the first automatic processing is performed. It is preferable that the outlet of the apparatus faces the inlet of the second automatic processing apparatus.
According to the seventh aspect of the present invention, the pallet is a pallet for fixing and conveying the optical device, and includes a pallet mount that is fitted and fastened to the mount of the optical device.
According to an eighth aspect of the present invention, in the pallet of the seventh aspect, the arm is lifted by the arm robot when the optical device is attached to the processing device that performs a predetermined process on the optical device by the arm robot. It is preferable to further include a pallet connector for coupling with the robot. The pallet connector is provided on the same plane as the pallet mount.
According to the ninth aspect of the present invention, in the pallet of the eighth aspect, when the optical device is attached to the processing apparatus by the arm robot, the notch provided for the catcher of the processing apparatus to receive and fix the pallet is provided. It is preferable that a positioning hole is formed on the same plane as the pallet mount and into which guide pins of the processing apparatus are inserted for positioning when the optical apparatus is attached to the processing apparatus by the arm robot.
According to a tenth aspect of the present invention, in the pallet of the seventh aspect, it is preferable that the optical device is a camera body of a camera, and the mount of the optical device is a body mount of the camera body.
According to the eleventh aspect of the present invention, an automatic processing method includes a plurality of optical devices having an opening through which a light beam enters and integrally lifting a pallet to which the optical device is fixed, and performing predetermined processing on the optical device. The optical device is sequentially replaced integrally with the pallet with respect to the processing device, and the optical device for which the predetermined processing is completed is returned together with the pallet.

According to the present invention, an easy-to-use automatic processor can be obtained.

FIG. 1 is a diagram for explaining an automatic processing apparatus according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a work (camera body). FIG. 3 is a diagram illustrating a pallet. FIG. 4 is a diagram illustrating a state in which a work (camera body) is mounted on the pallet of FIG. FIG. 5 is a side view illustrating a state in which the workpiece (camera body) in the state illustrated in FIG. 4 is attached to the detachable portion of the apparatus integrally with the pallet. FIG. 6 is a diagram illustrating a state in which three automatic processing devices are connected. FIG. 7 is a diagram illustrating an automatic processing apparatus according to a fourth modification. FIG. 8 is a diagram illustrating an example of work performed on a plurality of works (camera bodies) by the arm robot. FIG. 9 is a flowchart showing a processing method of automatic processing performed on the work (camera body) by the arm robot.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

<Outline of automatic processor>
FIG. 1 is a diagram for explaining an automatic processing apparatus 1 according to an embodiment of the present invention. In FIG. 1, the automatic processing apparatus 1 is configured in a housing 21 in which a clean environment is maintained by an air purifier 31. Operations on the automatic processing apparatus 1 are performed from the control panel 30.

In the housing 21, a plurality of processing devices 71 to 79 that perform predetermined adjustment and inspection on the work 11 that is a work target are arranged side by side. In this embodiment, the workpiece 11 on the conveyor 23 is lifted by the arm robot 24 or the arm robot 25, and the arm robot 24 or the arm robot 25 replaces the workpiece 11 with respect to the plurality of processing devices 71 to 79, The processing device 71 to the processing device 79 cause the workpiece 11 to be adjusted and inspected, respectively. Both the arm robot 24 and the arm robot 25 are vertical articulated robots suspended from the ceiling of the casing 21.

<Work description>
In the present embodiment, the camera body, which is an optical device, is the workpiece 11, and the processing devices 71 to 79 perform adjustment and inspection processing on the camera body, respectively. FIG. 2 is a diagram illustrating the workpiece 11 (camera body). In FIG. 2, a work 11 is a single-lens reflex type camera body. The workpiece 11 (camera body) includes a body mount 13 for mounting the interchangeable lens 12. The interchangeable lens 12 includes a lens mount 14 that fits with the body mount 13 and is configured to be detachable from the work 11 (camera body).

When the interchangeable lens 12 is attached to the workpiece 11 (camera body), the light beam from the subject that has passed through the interchangeable lens 12 travels from the opening 15 of the body mount 13 into the workpiece 11 (camera body), and a photosensitive member (not shown) For example, the image sensor is reached. The work 11 (camera body) generates image data based on a signal photoelectrically converted by the image sensor.

In general, when a plurality of workpieces 11 (camera bodies) are produced, each of the workpieces 11 (camera bodies) is individually set so that an image acquired by each workpiece 11 (camera body) satisfies a predetermined standard. Make adjustments and inspections. In the adjustment and inspection, for example, light of a predetermined color or intensity is incident from the opening 15 of the workpiece 11 (camera body) or a predetermined signal terminal (not shown) provided on the inner peripheral portion of the opening 15 is used. By inputting data or the like, a predetermined image and predetermined information are obtained on the work 11 (camera body) side.

<Description of adjustment and inspection device>
The adjustment and inspection processes described above are performed by the processing devices 71 to 79. The processing devices 71 to 79 are, for example, a processing device that performs adjustment on an image sensor, a processing device that performs color temperature adjustment of an image, a processing device that performs adjustment of an automatic focus adjustment (AF) function, and an automatic exposure (AE) adjustment function. The adjustment and inspection items to be performed by each of the processing apparatus that performs the adjustment and the processing apparatus that adjusts a predetermined function are determined. The processing devices 71 to 79 are usually provided in the housing 21 one processing device having different adjustment and inspection items. However, in the case of a processing device having a long time (takt time) required for adjustment and inspection. Two or more identical processing apparatuses may be provided in the casing 21.

The processing devices 71 to 79 mounted on the housing 21 output a vacant signal when each of them can accept the workpiece 11 (camera body). When it is confirmed that the workpiece 11 (camera body) is mounted, the processing devices 71 to 79 start predetermined processing such as adjustment and inspection on the mounted workpiece 11 (camera body). When the predetermined processing such as adjustment or inspection is completed, the processing devices 71 to 79 output a processing completion signal. When the workpiece 11 (camera body) is removed and the next workpiece 11 (camera body) can be received, an empty signal is output again.

In addition, when the processing device 71 to processing device 79 find an abnormality in the mounted work 11 (camera body), it outputs an abnormality detection signal.

<Description of pallet>
In the present embodiment, the workpiece 11 (camera body) is transported integrally with the pallet 51 in a state of being mounted on the pallet 51 illustrated in FIG. FIG. 3 is a diagram illustrating the pallet 51. In FIG. 3, the pallet 51 includes a pallet mount 52, a pallet connector 53, a positioning hole 54, and a notch 55.

The pallet mount 52 has the same fastening portion as the lens mount 14 of the interchangeable lens 12 (FIG. 2), and fits with the body mount 13 of the workpiece 11 (camera body). A through hole 56 that penetrates the pallet 51 is provided inside the circumference of the pallet mount 52. The pallet connector 53 is a connector used when the arm robot 24 and the arm robot 25 lift the pallet 51 (from the front side of the sheet). In this embodiment, the arm robot 24 or the arm robot 25 is coupled to the pallet connector 53 to lift the pallet 51. However, the pallet 51 may be lifted by holding the pallet 51 by the arm robot 24 or the arm robot 25. Good.

The positioning hole 54 is a through-hole used for positioning the pallet 51 when the pallet 51 on which the workpiece 11 (camera body) is mounted is attached to the processing devices 71 to 79. The notch 55 is provided for catchers (not shown) provided in the processing devices 71 to 79 to receive and fix the pallet 51.

FIG. 4 is a diagram illustrating a state in which the workpiece 11 (camera body) is mounted on the pallet 51 of FIG. The workpiece 11 (camera body) is fixed to the pallet 51 by fastening the pallet mount 52 and the body mount 13 of the workpiece 11 (camera body).

FIG. 5 is a side view illustrating a state in which the workpiece 11 (camera body) in the state illustrated in FIG. 4 is attached to the attachment / detachment unit 80 of the processing device 72 integrally with the pallet 51. The pallet 51 to which the workpiece 11 (camera body) is fixed is mounted on the processing device 72 from the left side of the figure by the arm robot 24 or the arm robot 25. Specifically, the work 11 (camera body) is mounted on the processing device 72 via the pallet 51 with the opening 15 of the work 11 (camera body) facing the processing device 72 (detachable portion 80). When a guide pin (not shown) is inserted into the positioning hole 54 described above and a catcher (not shown) of the processing device 72 receives the pallet 51, the center of the attaching / detaching portion 80 and the center of the opening 15 of the workpiece 11 (camera body) are located. It is configured to be aligned. The processing device 72 accommodates equipment (not shown) for performing predetermined adjustment and inspection.

<Description of automatic processing device>
In the automatic processing apparatus 1 of FIG. 1, a worker X (not shown) located outside the insertion port 22 receives the workpiece 11 (camera body) before adjustment and inspection from the previous process and fastens it to the pallet 51. The worker X inputs the workpiece 11 (camera body) in the state illustrated in FIG. 4 into the housing 21 integrally with the pallet 51 from the insertion port 22. The conveyor 23 is driven by a motor (not shown), and conveys the workpiece 11 (camera body) in the direction of arrow A together with the pallet 51. The conveyor 23 stops once the work 11 (camera body) is transported to the movable range of the arm robot 24.

As described above, the arm robot 24 and the arm robot 25 are vertical articulated robots. The arm robot 24 lifts the workpiece 11 (camera body) placed on the conveyor 23 integrally with the pallet 51, and the workpiece 11 (camera body) integrally with the pallet 51, any of the processing devices 71 to 79. Attach to crab.

Here, in FIG. 1, the processing devices 71 to 79 are shown, but in this embodiment, the processing devices located behind the casing 21 and the arm robot 25 are included in 4 rows × 4 rows. A total of 16 processing devices can be accommodated. These 16 processing apparatuses are configured in common in the vertical size and the horizontal size, so that the processing apparatuses can be easily replaced. Further, these 16 processing devices can be individually loaded from the back side of the casing 21. For this reason, it is possible to freely change the apparatus according to the adjustment and inspection items required for the workpiece 11 (camera body). For example, when the automatic processing apparatus 1 is used in a production line for another product, a necessary processing apparatus can be easily replaced. As described above, two or more processing devices with overlapping adjustment and inspection items may be included in the 16 units.

When the arm robot 24 receives an empty signal from any of the 16 processing devices (processing device 71 to processing device 79 in FIG. 1), the arm robot 24 moves the pallet 51 on which the workpiece 11 (camera body) is fixed from the conveyor 23. The pallet 51 is attached to the processing device that lifts and outputs the empty signal. Here, the arm robot 24 attaches the workpiece 11 (camera body) together with the pallet 51 to a predetermined processing device among the 16 processing devices (processing devices 71 to 79 in FIG. 1). To do. The processing apparatus to which the workpiece 11 (camera body) is attached may be 16 of 16 processing apparatuses or 5 of 16 processing apparatuses. That is, it may be attached to all the processing apparatuses, or may be attached to some of the processing apparatuses. In the present embodiment, the workpiece 11 (camera body) mounted on any of the processing apparatuses can be replaced with the other 15 processing apparatuses among all 16 units.

When the arm robot 24 receives a processing completion signal from a processing device (processing device 71 to processing device 79 in FIG. 1) on which the workpiece 11 (camera body) is mounted, the arm robot 24 moves the workpiece 11 (camera body) from the processing device to the pallet 51. Remove as one. The arm robot 24 is a processing device in which the removed workpiece 11 (camera body) is not yet mounted on the workpiece 11 (camera body) among the fifteen processing devices, and a process of outputting an empty signal. The pallet 51 is mounted integrally with the apparatus. If the arm robot 24 has not yet been mounted and there is no processing device that outputs an empty signal, the arm robot 24 returns the removed workpiece 11 (camera body) onto the conveyor 23 together with the pallet 51. The position where the workpiece 11 (camera body) is returned onto the conveyor 23 may be different from the position before the workpiece 11 (camera body) is lifted from the conveyor 23.

The arm robot 25 performs the same work as the arm robot 24 in a shared manner with the arm robot 24. That is, the workpiece 11 (camera body) is lifted together with the pallet 51, and the workpiece 11 (camera body) is mounted integrally with the pallet 51 on any of the processing devices 71 to 79. When the arm robot 25 receives the processing completion signal from the processing device (processing device 71 to processing device 79 in FIG. 1), the work robot 11 removes the workpiece 11 (camera body) integrally with the pallet 51 from the device. The arm robot 25 is a processing device in which the removed workpiece 11 (camera body) is not mounted on the workpiece 11 (camera body) among the fifteen processing devices, and a process of outputting a vacant signal. The pallet 51 is mounted integrally with the apparatus, or the pallet 51 is returned to the conveyor 23 integrally.

As described above, when the work 11 (camera body) different from the arm robot 24 is operated by the arm robot 25, the processing speed of the automatic processing apparatus 1 is improved as compared with the case where the work is performed only by the arm robot 24. In FIG. 1, only one workpiece 11 (camera body) is shown on the conveyor 23, but a plurality of workpieces 11 (camera bodies) are actually placed. The arm robot 24 (25) performs work on a plurality of workpieces 11 (camera bodies).

When the workpiece 11 (camera body) does not exist within the movable range of the arm robot 25, the conveyor 23 conveys the workpiece 11 (camera body) to the movable range of the arm robot 25 and temporarily stops.

When adjustment and inspection are completed for all of the 15 processing devices determined in advance for the workpiece 11 (camera body) placed integrally with the pallet 51 on the conveyor 23, the conveyor 23 is moved to the workpiece 11 ( The pallet 51 of the camera body) is conveyed to the delivery port 26. When the worker Y (not shown) located outside the delivery port 26 removes the workpiece 11 (camera body) from the conveyed pallet 51, only the pallet 51 is thrown into the housing 21 from the pallet return port 32. The work 11 (camera body) that has been adjusted and inspected is sent by the operator Y to the next process.

The conveyor 28 is driven by a motor (not shown) and conveys the pallet 51 in the arrow B direction. The conveyor 28 conveys the pallet 51 to the discharge port 29. The worker X takes out the pallet 51 from the discharge port 29. The worker X fastens a new work 11 (camera body) to the removed pallet 51.

When the arm robot 24 or the arm robot 25 receives an abnormality detection signal from a processing device (the processing device 71 to the processing device 79 in FIG. 1) in which the workpiece 11 (camera body) is mounted integrally with the pallet 51, the arm robot 24 or the arm robot 25 receives the abnormality detection signal from the processing device. 11 (camera body) is removed together with the pallet 51. The arm robot 24 or the arm robot 25 places the removed workpiece 11 (camera body) on the conveyor 27 together with the pallet 51.

The conveyor 27 is driven by a motor (not shown) and conveys the pallet 51 in the direction of arrow C. The conveyor 27 conveys the workpiece 11 (camera body) in which an abnormality is detected to the conveyor 28 integrally with the pallet 51. The conveyor 28 conveys the workpiece 11 (camera body) in which an abnormality has been detected to the discharge port 29 together with the pallet 51. The worker X takes out the workpiece 11 (camera body) in which an abnormality is detected from the discharge port 29 together with the pallet 51 and removes it from the production line.

<Serial operation of automatic processing equipment>
The above-described automatic processing device 1 is configured to be able to operate in series. FIG. 6 is a diagram for explaining a state in which three automatic processing apparatuses 1 are connected. When there are a large number of processing devices that adjust and inspect one workpiece 11 (camera body) (for example, the required number of processing devices exceeds 16 units that can be accommodated in the housing 21), the workpiece 11 (camera) Series operation is preferred when it is desired to increase the number of (body) produced.

As described with reference to FIG. 1, the three automatic processing apparatuses 1 each have the inlet 22, the outlet 29, the outlet 26, and the pallet return port 32. The inlet 22 and the outlet 26 are provided at a position where the outlet 26 of the upstream automatic processor 1 faces the inlet 22 of the downstream automatic processor 1. Similarly, the pallet return port 32 and the discharge port 29 are provided at a position where the discharge port 29 of the downstream automatic processing device 1 faces the pallet return port 32 of the upstream automatic processing device 1.

According to FIG. 6, even when the automatic processing apparatus 1 is operated in series with a plurality of units, it is not necessary to increase the number of workers from the case where the automatic processing apparatus 1 is independently operated with one unit. The number of workers may be two, that is, the worker X located outside the insertion port 22 and the worker Y located outside the delivery port 26 of the automatic processing apparatus 1 on the downstream side.

<When there are many processing devices that adjust and inspect one workpiece 11 (camera body)>
For example, when the number of processing apparatuses used for adjustment and inspection is 30, adjustment and inspection are completed with 10 processing apparatuses in the upstream automatic processing apparatus 1, and another 10 are processed in the next automatic processing apparatus 1. The division of roles among a plurality of automatic processing devices 1 such that adjustment and inspection are completed by one processing device, and further adjustment and inspection are completed by the remaining 10 processing devices in the downstream automatic processing device 1 Let

By combining the same automatic processing device 1 and sharing roles, it is not necessary to introduce a new automatic processing device larger than the automatic processing device 1 (accommodating 30 processing devices), and thus costs can be reduced. .

<If you want to increase the number of workpiece 11 (camera body) production>
For example, when the number of processing devices used for adjustment and inspection is 15, adjustment and inspection are completed with five processing devices in the upstream automatic processing device 1, and another five processing devices are used in the next automatic processing device 1. The division of roles among a plurality of automatic processing devices 1 such that adjustment and inspection are completed by one processing device, and further adjustment and inspection are completed by the remaining five processing devices in the downstream automatic processing device 1 Let

By combining roles of the same automatic processing device 1, it is not necessary to newly introduce an automatic processing device larger than the automatic processing device 1 (for example, having six arm robots), and thus costs can be reduced.

According to the embodiment described above, the following operational effects can be obtained.
(1) In the automatic processing apparatus 1, a work 11 (camera body) having an opening 15 through which a light beam enters is placed on a conveyor 23 integrally with a pallet 51 to which the work 11 (camera body) is fixed. The arm robot 24 or the arm robot 25 lifts the workpiece 11 (camera body) together with the pallet 51 from the conveyor 23, and performs adjustment processing and inspection processing on the workpiece 11 (camera body). On the other hand, the workpiece 11 (camera body) is sequentially replaced integrally with the pallet 51, and the workpiece 11 (camera body) after the adjustment processing and the inspection processing is returned to the conveyor 23 integrally with the pallet 51. Thereby, the easy-to-use automatic processing apparatus 1 is obtained. Compared to the case where the workpiece 11 (camera body) is directly mounted on the conveyor without being fixed to the pallet 51, lifted from the conveyor, and returned to the conveyor, the arm robot 24 is used in the automatic processing apparatus 1. Alternatively, since the arm robot 25 indirectly grabs and transports the workpiece 11 (camera body), it is possible to reduce the risk of scratching or soiling the workpiece 11 (camera body).

(2) The arm robot 24 (25) makes the opening 15 of the workpiece 11 (camera body) face each of the processing devices 71 to 79, and sequentially replaces the workpiece 11 (camera body) with respect to the processing devices 71 to 79. At this time, the workpiece 11 (camera body) is attached to each of the processing apparatuses 71 to 79 via the pallet 51. The plurality of processing devices 71 to 79 perform adjustment processing and inspection processing on the workpieces 11 (camera bodies) that are sequentially mounted through the through holes 56 that are openings of the pallet 51. The arm robot 24 (25) attaches the workpiece 11 (camera body) to the processing devices 71 to 79 via the pallet 51, whereby the workpiece 11 (camera body) is directly attached to the plurality of processing devices 71 without passing through the pallet 51. Compared with the case of attaching to each processing apparatus of -79, it is possible to eliminate the possibility of scratching or soiling the work 11 (camera body).

(3) In the process of sequentially replacing the workpiece 11 (camera body) integrally with the pallet 51 with respect to the plurality of processing devices 71 to 79, each arm robot of the

arm robots

24 and 25 receives each of the plurality of workpieces 11 (camera body). By performing the above, each arm robot performs an operation of moving each of the plurality of workpieces 11 (camera bodies) integrally with the pallet 51 and an operation of attaching / detaching them to each of the plurality of processing devices 71 to 79. In other words, the arm robot 24 (25) performs the operation of moving the plurality of workpieces 11 (camera bodies) to and from the plurality of processing devices 71 to 79. Therefore, for example, the same amount of work as in the case where a plurality of workers perform the work of attaching and detaching one work 11 (camera body) to one processing apparatus is realized by one automatic processing apparatus 1. it can.

(4) Since the work 11 (camera body) is conveyed toward the delivery port 26 through the movable range of the arm robot 24 (25) by the conveyer 23 placed integrally with the pallet 51. An easy-to-use automatic processing apparatus 1 can be obtained. Further, since it is not necessary to extend the movable range of the arm robot 24 (25) more than necessary, the cost of the arm robot 24 (25) is also reduced.

(5) The arm robot 25 moves and attaches the work 11 (camera body) different from the work 11 (camera body) to which the arm robot 24 moves and attaches to the processing apparatus to another processing apparatus. Specifically, as shown in FIG. 8, the arm robot 24 sequentially integrates a workpiece 11A, which is one of a plurality of workpieces 11 (camera bodies), with a pallet 51 into a plurality of processing devices 71 to 79. After performing the replacement process, the workpiece 11 </ b> A is conveyed to the movable range of the arm robot 25 by the conveyor 23. At the same time, the workpiece 11 </ b> B among the plurality of workpieces 11 (camera bodies) is conveyed to the movable range of the arm robot 24 by the conveyor 23. At this time, the arm robot 25 performs a process of sequentially replacing the workpiece 11A integrally with the pallet 51 on the plurality of processing devices 71 to 79, and the arm robot 24 transfers the workpiece 11B to the plurality of processing devices 71 to 79. A process of sequentially replacing the pallet 51 integrally is performed. Accordingly, the processing speed of the automatic processing apparatus 1 is improved as compared with a case where a plurality of workpieces are moved to and mounted on a plurality of processing apparatuses with only one arm robot.

(6) When a plurality of automatic processing devices 1 are arranged, one of the two automatic processing devices 1 adjacent to each other, that is, the outlet 26 of the upstream automatic processing device 1 is the other. The two automatic processing devices 1 adjacent to each other are arranged so as to face the automatic processing device 1, that is, the inlet 22 of the downstream automatic processing device 1. Therefore, the workpiece 11 (camera body) can be automatically conveyed from the upstream automatic processing device 1 toward the downstream automatic processing device 1.

(7) The pallet 51 includes a pallet mount 52 that is fitted and fastened to the body mount 13 of the workpiece 11 (camera body). The workpiece 11 (camera body) is fixed to the pallet 51 by fastening the pallet mount 52 and the body mount 13 of the workpiece 11 (camera body). Therefore, adjustment processing and / or inspection processing by a common processing device can be performed on various types of workpieces 11 (camera bodies) having the common body mount 13.

(8) The pallet 51 is lifted by the

arm robot

24 or 25 when the work 11 (camera body) is attached to any one of the plurality of processing devices 71 to 79 by the

arm robot

24 or 25. A pallet connector 53 for coupling with the

arm robot

24 or 25 is included. The pallet connector 53 is provided on the same plane as the pallet mount 52. When the

arm robot

24 or 25 attaches the workpiece 11 (camera body) to the processing devices 71 to 79, the

arm robot

24 or 25 does not contact the workpiece 11 (camera body). Therefore, the

common arm robot

24 or 25 can move various types of workpieces 11 (camera bodies) to a common processing apparatus and attach / detach them without damaging or soiling.

(9) On the pallet 51, when the workpiece 11 (camera body) is attached to any one of the plurality of processing devices 71 to 79 by the

arm robot

24 or 25, the catcher of the processing device receives the pallet 51. A notch 55 provided to fix the workpiece 11 is formed on the same plane as the pallet mount 52, and the processing device for positioning when the work 11 (camera body) is attached to the processing device by the

arm robot

24 or 25. A positioning hole into which the guide pin is inserted is formed. Therefore, various types of workpieces 11 (camera bodies) are mounted by the

common arm robot

24 or 25 without touching the common processing apparatus and being damaged or dirty.

(10) FIG. 9 shows the automatic robot 1 according to the present embodiment in the case of predetermined processing such as adjustment processing and inspection processing on the workpiece 11 (camera body) by the plurality of processing devices 71 to 79. 25 is a flowchart showing the above-described automatic processing method performed on the workpiece 11 (camera body) by each of 25. When the automatic processing is started, in step S910, each of the

arm robots

24 and 25 causes the workpiece 11 (camera body) having the opening 15 into which the light beam enters to the pallet to which the workpiece 11 (camera body) is fixed. 51 is lifted from the conveyor 23 integrally. In step S920, each of the

arm robots

24 and 25 applies the workpiece 11 (camera body) to the plurality of processing devices 71 to 79 that perform predetermined processing such as adjustment processing and inspection processing on the workpiece 11 (camera body). ) Are sequentially replaced integrally with the pallet 51. In step S930, each of the

arm robots

24 and 25 returns the workpiece 11 (camera body) for which the predetermined processing has been completed to the conveyor 23 together with the pallet 51.

(First modification)
In the above description, a single-lens reflex type camera body is exemplified as the work 11, but a single-lens type camera body that is not a reflex type may be used.

(Second modification)
The interchangeable lens 12 may be the work 11. In adjustment and inspection in this case, for example, predetermined data is input from a signal terminal (not shown) provided in the lens mount 14 so that predetermined information can be obtained on the interchangeable lens 12 side. .

(Third Modification)
Furthermore, a lens-integrated camera may be used as the work 11 instead of a camera body that can exchange lenses. In this case, the lens-integrated camera in the middle of the assembling process is fixed to the pallet, and is attached to the processing devices 71 to 79 integrally with the pallet. The camera may be used for recording or monitoring, and may be a camera unit mounted as a module on an electronic device.

(Fourth modification)
In the above-described embodiment, the automatic processing apparatus 1 including the two

arm robots

24 and 25 is illustrated, but only one arm robot may be used. FIG. 7 is a diagram illustrating an automatic processing apparatus 1 </ b> B including only one arm robot 25. The configuration other than the arm robot 25 is the same as that of the automatic processing apparatus 1.

(5th modification)
The number of arm robots provided in one automatic processing apparatus is not limited to one or two, but may be three, four, or more. Further, the number of processing devices that can be mounted on one automatic processing device is not limited to the above-described 16 devices, and may be 4, 10, 20, 20, or more.

The above description is merely an example, and is not limited to the configuration of the above embodiment.

The disclosure of the following priority application is hereby incorporated by reference.
Japanese Patent Application 2013-63385 (filed on March 26, 2013)

1 Automatic processing equipment 11 Workpiece (camera body)
12 Interchangeable Lens 21 Housing 22

Input Ports

23, 27, 28

Conveyor

24, 25 Arm Robot 26 Outlet 29 Outlet 31 Air Purifier 32 Pallet Return Port 51 Pallet 52 Pallet Mount 53 Pallet Connector 54 Positioning Hole 55 Notch 56 Through Hole (opening)
71 to 79 Processing device 80 Detachable part

Claims

A plurality of processing devices for performing predetermined processing on an optical device having an aperture through which a light beam enters;
A mounting table on which the optical device is mounted integrally with a pallet to which the optical device is fixed;
The optical device is lifted integrally with the pallet from the mounting table, the optical devices are sequentially replaced integrally with the pallet with respect to the plurality of processing devices, and the optical device after the predetermined processing is completed to the mounting table. An arm robot that returns together with the pallet;
An automatic processing apparatus comprising:
The automatic processing apparatus according to claim 1,
The arm robot causes the opening of the optical device to face each processing device of the plurality of processing devices, and the optical device via the pallet when sequentially replacing the optical device with respect to the plurality of processing devices. Is attached to each processing device,
The plurality of processing devices perform the predetermined processing through the opening of the pallet with respect to the optical devices mounted sequentially.
Automatic processing device.
The automatic processing apparatus according to claim 2,
The arm robot performs the process of sequentially changing the optical device integrally with the pallet with respect to the plurality of processing devices for each of the plurality of optical devices, so that the arm robot is attached to each of the plurality of processing devices. On the other hand, an operation of moving each of the plurality of optical devices integrally with the pallet and an operation of attaching and detaching are performed.
Automatic processing device.
In the automatic processing device according to claim 3,
The inlet,
A delivery port, and
The mounting table includes a transport function for transporting the optical device integrally with the pallet from the insertion port to the delivery port through the movable range of the arm robot.
Automatic processing device.
The automatic processing apparatus according to claim 4, wherein
The arm robot includes a first arm robot and a second arm robot,
After the first arm robot performs a process of sequentially replacing the first optical device of the plurality of optical devices integrally with the pallet with respect to the plurality of processing devices, the first optical device is moved by the mounting table. When the second optical device of the plurality of optical devices is transferred to the movable range of the first arm robot by the mounting table, the second arm device is transferred to the movable range of the first arm robot. The two-arm robot performs a process of sequentially replacing the first optical device integrally with the pallet with respect to the plurality of processing devices, and the first arm robot performs the second optical device with respect to the plurality of processing devices. The process of sequentially replacing the pallet integrally with the pallet,
Automatic processing device.
The automatic processing apparatus according to claim 5, wherein
The first automatic processing device and the second automatic processing device, both of which are the automatic processing devices, are arranged adjacent to each other,
The delivery port of the first automatic processing device faces the input port of the second automatic processing device;
Automatic processing device.
A pallet that transports a fixed optical device,
A pallet mount that is fitted and fastened to the mount of the optical device;
palette.
The pallet according to claim 7,
A pallet connector coupled to the arm robot to be lifted by the arm robot when the optical device is attached to a processing device that performs predetermined processing on the optical device by an arm robot;
The pallet connector is provided on the same surface as the pallet mount.
palette.
The pallet according to claim 8,
When the optical device is attached to the processing device by the arm robot, a notch provided for receiving and fixing the pallet by the catcher of the processing device is formed on the same plane as the pallet mount, A positioning hole into which a guide pin of the processing apparatus is inserted for positioning when the optical apparatus is attached to the processing apparatus by the arm robot is formed.
palette.
The pallet according to claim 7,
The optical device is a camera body of a camera;
The mount of the optical device is a body mount of the camera body;
palette.
An optical device having an opening through which a light beam enters is lifted integrally with a pallet to which the optical device is fixed,
For a plurality of processing devices that perform predetermined processing on the optical device, the optical device is sequentially replaced integrally with the pallet,
Returning the optical device, which has completed the predetermined processing, together with the pallet;
Automatic processing method.