CN105263670B - Automatic processing device, automatic processing method and pallet - Google Patents
Automatic processing device, automatic processing method and pallet Download PDFInfo
- Publication number
- CN105263670B CN105263670B CN201480030167.0A CN201480030167A CN105263670B CN 105263670 B CN105263670 B CN 105263670B CN 201480030167 A CN201480030167 A CN 201480030167A CN 105263670 B CN105263670 B CN 105263670B
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- China
- Prior art keywords
- pallet
- optical devices
- arm robot
- processing unit
- workpiece
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B15/00—Optical objectives with means for varying the magnification
- G02B15/02—Optical objectives with means for varying the magnification by changing, adding, or subtracting a part of the objective, e.g. convertible objective
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/14—Mountings, adjusting means, or light-tight connections, for optical elements for lenses adapted to interchange lenses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Automatic processing device has：Multiple processing units, to having the Optical devices for the opening that light beam is supplied to enter to carry out predetermined processing；Mounting table integrally loads the pallet of Optical devices and fixed Optical devices；Arm robot is integrally promoted from mounting table by Optical devices with pallet, and the Optical devices for completing predetermined processing is made integrally to return to mounting table with pallet integrally relative to multiple processing units successively rotation on Optical devices and pallet.
Description
Technical field
The present invention relates to the automatic processing device and automatic processing method that predetermined processing is automatically carried out to workpiece and certainly
Pallet used in dynamic processing and automatic processing method.
Background technology
The assembling device (referring to patent document 1) of the automatic assembled workpiece of the known arm robot using multi-joint.Assembling
Device is placed on the component of supply tray and is carried to assembling region, in assembling region assembled workpiece, and by the workpiece after assembling to
It carries in keeping region.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2011-115877 bulletins
Invention content
But the motion of device that the workpiece after assembling is automatically adjusted or is checked and few, especially
It is expected the device for being concurrently automatically adjusted to multiple workpiece or checking automatically.
First method according to the present invention, automatic processing device have：Multiple processing units supply light beam to enter to having
Opening Optical devices carry out predetermined processing；Mounting table integrally carries the pallet of Optical devices and fixed Optical devices
It puts；Arm robot is integrally promoted from mounting table by Optical devices with pallet, and by Optical devices and pallet integrally phase
For multiple processing units successively rotation, the Optical devices for completing predetermined processing is made integrally to return to mounting table with pallet.
Second method according to the present invention, it is preferred that in the automatic processing device of first method, arm robot makes
Optical devices opening it is opposite with each processing unit in multiple processing units, and by Optical devices relative to multiple processing
Device successively rotation when, Optical devices are installed to each processing unit via pallet, multiple processing units are had via pallet
Some openings carry out predetermined processing to the Optical devices installed successively.
Third Way according to the present invention, it is preferred that in the automatic processing device of second method, arm robot pair
Each of multiple Optical devices into being about to Optical devices and the pallet integrally processing to multiple processing units successively rotation, by
This, arm robot into be about to multiple Optical devices each with pallet integrally relative to multiple processing units each
Mobile operation and the operation of dismounting.
Fourth way according to the present invention, it is preferred that in the automatic processing device of Third Way, also with input port
With submitting mouth.Mounting table has the function of to carry as follows, by Optical devices and pallet integrally from input port via arm robot
Movable range towards send out mouth carry.
5th mode according to the present invention, it is preferred that in the automatic processing device of fourth way, arm robot packet
The first arm robot and the second arm robot are included, has been carried out in the first arm robot by first in multiple Optical devices
Optical devices and pallet integrally relative to the processing of multiple processing units successively rotation after, the first Optical devices pass through mounting
Platform and the movable range for being carried to the second arm robot, and the second Optical devices in multiple Optical devices pass through mounting
Platform and when being carried to the movable range of the first arm robot, the second arm robot is into being about to the first Optical devices and pallet
Integrally relative to the processing of multiple processing units successively rotation, and the first arm robot into be about to the second Optical devices with
Pallet is integrally relative to the processing of multiple processing units successively rotation.
6th mode according to the present invention, it is preferred that be to automatically process in the automatic processing device of the 5th mode
The first automatic processing device and the second automatic processing device of device are configured adjacent to each other, the submitting of the first automatic processing device
Mouth is opposite with the input port of the second automatic processing device.
7th mode according to the present invention, pallet are the pallets for fixing and carrying Optical devices, wherein, have and filled with optics
The tray seat that the portions put are fitted into and fasten.
Eighth mode according to the present invention, it is preferred that in the pallet of the 7th mode, also with pallet connector,
When Optical devices are mounted on the processing unit to Optical devices progress predetermined processing by arm robot, in order to pass through arm
Formula robot is promoted and is combined with arm robot, and pallet connector is arranged on the face identical with tray seat.
9th mode according to the present invention, it is preferred that in the pallet of eighth mode, by arm robot by light
When learning device and being mounted in processing unit, the incised notch portion shape that sets for the catcher support for processing unit and fixed tray
On the identical face of Cheng Yu tray seats, and in order to carry out by arm robot by Optical devices be mounted on processing unit on when
Positioning, be formed with for processing unit guide pin insertion location hole.
Tenth mode according to the present invention, it is preferred that in the pallet of the 7th mode, Optical devices are the cameras of camera
Fuselage, the portions of Optical devices are the fuselage seats of camera body.
11st mode according to the present invention, in automatic processing method, by the optics with the opening entered for light beam
The pallet of device and fixed Optical devices is integrally promoted, and Optical devices are integrally provided with pallet to Optical devices
Multiple processing units rotation successively of processing, makes the Optical devices for completing predetermined processing integrally be returned with pallet.
Invention effect
In accordance with the invention it is possible to obtain the good automatic processing device of ease of use.
Description of the drawings
Fig. 1 is the figure for illustrating the automatic processing device of one embodiment of the present invention.
Fig. 2 is the figure for instantiating workpiece (camera body).
Fig. 3 is the figure for instantiating pallet.
Fig. 4 is the figure for instantiating the state that workpiece (camera body) is mounted on the pallet of Fig. 3.
Fig. 5 is to instantiate the workpiece (camera body) in the state of illustrated in Fig. 4 being integrally installed at device with pallet
Dismounting portion on state side view.
Fig. 6 is the figure for illustrating to have linked the state of 3 automatic processing devices.
Fig. 7 is the figure for the automatic processing device for instantiating the 4th variation.
Fig. 8 is an example for the operation for representing to carry out multiple workpiece (camera body) as object using arm robot
Figure.
Fig. 9 is the flow for the processing method automatically processed for representing to carry out workpiece (camera body) using arm robot
Figure.
Specific embodiment
Hereinafter, it is described with reference to the mode for implementing the present invention.
The summary ＞ of ＜ automatic processing devices
Fig. 1 is the figure for illustrating the automatic processing device 1 of one embodiment of the present invention.In Fig. 1, dress is automatically processed
1 is put to be formed in the housing 21 by the holding cleaning ambient of air cleaning machine 31.It is carried out from control panel 30 to automatically processing dress
Put 1 operation.
In housing 21, it is configured with multiple places that defined adjustment is carried out to manipulating object i.e. workpiece 11, is checked side by side
Manage 71~processing unit of device 79.In the present embodiment, it is promoted to be located at by arm robot 24 or arm robot 25 and be passed
Send the workpiece 11 on band 23, arm robot 24 or arm robot 25 by workpiece 11 relative to multiple processing units 71~processing
Device 79 carries out rotation, carries out the adjustment to workpiece 11, inspection processing respectively from there through 71~processing unit of processing unit 79.
Arm robot 24 and arm robot 25 are the vertical articulated robot to hang down from the top plate portion of housing 21.
＜ workpiece illustrate ＞
In the present embodiment, using optical device, that is, camera body as workpiece 11, by 71~processing unit of processing unit
79 carry out adjustment, the inspection processing to camera body respectively.Fig. 2 is the figure for instantiating workpiece 11 (camera body).In fig. 2,
Workpiece 11 is the camera body of simple eye reflection-type.Workpiece 11 (camera body) has the fuselage seat for installing interchangeable lenses 12
13.Interchangeable lenses 12 have the lens mount 14 chimeric with fuselage seat 13, being capable of removably structure relative to workpiece 11 (camera body)
Into.
When being equipped with interchangeable lenses 12 on workpiece 11 (camera body), passed through interchangeable lenses 12 from object
The light beam of body enters from the opening 15 of fuselage seat 13 in workpiece 11 (camera body), and reach photosensitive-member (not shown) (such as
Imaging sensor).Workpiece 11 (camera body) is based on the signal obtained by imaging sensor progress opto-electronic conversion and generation figure
As data.
In general, in the case where producing more workpiece 11 (camera body), to pass through each (camera machine of workpiece 11
Body) obtain image meet as defined in benchmark mode, each workpiece 11 (camera body) is adjusted respectively, is checked.
Adjustment, in checking, for example, the light of color as defined in 15 incidence of opening from workpiece 11 (camera body) and intensity or from setting
Data etc. as defined in the signal terminal (not shown) input in the inner peripheral portion of opening 15 are put, in workpiece 11 (camera body) this side
Image and defined information as defined in obtaining.
＜ adjustment, check device illustrate ＞
Above-mentioned adjustment, inspection department's 71~processing unit of reason processing unit 79 are implemented.71~processing unit of processing unit 79
It determines the processing unit being for example adjusted to imaging sensor, the processing unit for the colour temperature adjustment for carrying out image, carry out automatically
The processing unit of the adjustment of the processing unit, progress automatic exposure (AE) regulatory function of the adjustment of (AF) function of focusing and adjustment
Adjustment that processing unit of predetermined function etc. is implemented respectively, inspection item.71~processing unit of processing unit 79 usually will adjustment,
The different processing unit of inspection item respectively sets one in housing 21, but in the time needed for adjustment, inspection (during beat
Between：Tact time) in the case of long processing unit, 2 or more same treatment devices can also be set in housing 21.
71~processing unit of processing unit 79 in housing 21 is respectively in can receive (the camera machine of workpiece 11
Body) state when export idle signal.71~processing unit of processing unit 79 after confirmation is mounted with workpiece 11 (camera body),
The predetermined processing that starts to adjust to the workpiece 11 (camera body) installed or check etc..71~processing unit of processing unit 79 exists
Adjustment or check when predetermined processing complete when, output processing complete signal.Moreover, it is formed when taking out workpiece 11 (camera body)
During state for next workpiece 11 (camera body) can be received, idle signal is exported again.
In addition, 71~processing unit of processing unit 79 is when noting abnormalities to the workpiece 11 (camera body) installed, it is defeated
Go out anomaly detection signal.
＜ pallets illustrate ＞
In the present embodiment, in the state of by workpiece 11 (camera body) on the pallet 51 illustrated in Fig. 3,
It is integrally carried with pallet 51.Fig. 3 is the figure for instantiating pallet 51.In figure 3, there is pallet 51 tray seat 52, pallet to connect
Device 53, location hole 54 and incised notch portion 55.
Tray seat 52 has a 14 same fastening part of lens mount with interchangeable lenses 12 (Fig. 2), and with (the camera machine of workpiece 11
Body) fuselage seat 13 it is chimeric.In the inside of the circumference of tray seat 52, it is provided through the through hole 56 of pallet 51.Pallet connects
Device 53 is used connector when arm robot 24 and arm robot 25 promote pallet 51 (from paper nearby side).At this
In embodiment, make arm robot 24 or arm robot 25 and pallet connector 53 with reference to and promote pallet 51, but also may be used
Pallet 51 is promoted to be configured to hold pallet 51 by arm robot 24 or arm robot 25.
Location hole 54 is for that will be equipped with the pallet 51 of workpiece 11 (camera body) to 71~processing unit of processing unit
The through hole of the positioning of pallet 51 during 79 installation.Incised notch portion 55 is in order to for being arranged on 71~processing unit of processing unit 79
On catcher (not shown) (catcher) support and fixed tray 51 and set.
Fig. 4 is the figure for instantiating the state by workpiece 11 (camera body) on the pallet 51 of Fig. 3.52 He of tray seat
The fuselage seat 13 of workpiece 11 (camera body) is fastened, so as to which workpiece 11 (camera body) is fixed on pallet 51.
Fig. 5 is to instantiate the workpiece 11 (camera body) in the state of illustrated in Fig. 4 being integrally installed at pallet 51
Side view in the dismounting portion 80 of processing unit 72.The pallet 51 for being fixed with workpiece 11 (camera body) passes through arm robot 24
Or arm robot 25 is installed on processing unit 72 on the left of figure.Specifically, with making the opening of workpiece 11 (camera body)
15 and the opposite direction of processing unit 72 (dismounting portion 80) correspondingly, workpiece 11 (camera body) is mounted on via pallet 51
In processing unit 72.It is configured to when guide pin (not shown) being inserted into above-mentioned location hole 54 and the catcher of processing unit 72 (is not schemed
Show) support pallet 51 when, the center in dismounting portion 80 and the opening 15 of workpiece 11 (camera body) center contraposition.In processing unit
In 72, it is accommodated with the equipment (not shown) for carrying out pre-determined adjustment, checking.
＜ automatic processing devices illustrate ＞
In the automatic processing device 1 of Fig. 1, the operator X (not shown) outside input port 22 receives from previous process
Workpiece 11 (camera body) before adjustment, inspection, and secure it on pallet 51.Operator X will be in the state of illustrated in Fig. 4
Workpiece 11 (camera body) with pallet 51 integrally from input port 22 put into housing 21 in.Conveyer belt 23 is by (not shown)
Motor and drive, workpiece 11 (camera body) and pallet 51 are integrally carried along arrow A directions.When conveyer belt 23 is by workpiece 11
When (camera body) is carried to the movable range of arm robot 24, temporarily cease.
As described above, arm robot 24 and arm robot 25 are vertical articulated robots.Arm robot 24
The workpiece 11 (camera body) being positioned on conveyer belt 23 is integrally promoted with pallet 51, and by the workpiece 11 (camera body)
It is integrally installed in some in 71~processing unit of processing unit 79 with pallet 51.
Here, in fig. 1 it is illustrated that 71~processing unit of processing unit 79, but in the present embodiment, comprising positioned at shell
Including processing unit behind body 21 or arm robot 25, it can store and arrange 16 processing altogether formed by indulging 4 row × horizontal stroke 4
Device.This respective longitudinal size of 16 processing units and lateral dimension are commonly formed, and are easy to carry out the replacement of processing unit.
In addition, this 16 processing units can individually be loaded from the back side of housing 21.Thereby, it is possible to according to (the camera machine of workpiece 11
Body) needed for adjustment, inspection item, freely carry out device recombination.For example, using automatic in the production line of other products
In the case of processing unit 1, the processing unit of needs can be easily replaced.It in addition, as described above, can also be at above-mentioned 16
In comprising 2 or more adjustment, inspection item repeat processing unit.
Arm robot 24 ought connect from some of 16 processing units (being 71~processing unit of processing unit 79 in Fig. 1)
During by idle signal, the pallet 51 for being fixed with workpiece 11 (camera body) is promoted from conveyer belt 23, and with pallet 51 1
Installed to the processing unit for sending out idle signal to body.Here, arm robot 24 is by workpiece 11 (camera body) and pallet 51
The pre-determined processing dress being integrally installed in 16 processing units (being 71~processing unit of processing unit 79 in Fig. 1)
It puts.The processing unit of workpiece 11 (camera body) is installed either in 16 processing units in 16 or 16
5 processing units.That is, can both be installed on whole processing units, a part for more processing units can also be installed on.
In the present embodiment, it is configured to the workpiece 11 (camera body) in some processing unit relative to whole
Other 15 processing unit rotations in 16.
Arm robot 24 is when (being processing unit 71 in Fig. 1 from the processing unit of workpiece 11 (camera body) is equipped with
~processing unit 79) when receiving processing and completing signal, from the processing unit by workpiece 11 (camera body) and the one of pallet 51
Ground removes.The workpiece 11 (camera body) removed and pallet 51 are integrally mounted to above-mentioned 15 processing and filled by arm robot 24
The processing unit for not installing the workpiece 11 (camera body) in putting outputs the processing unit of idle signal.There is no not
In the case of installing and outputing the processing unit of idle signal, arm robot 24 make the workpiece removed 11 (camera body) with
Pallet 51 is integrally on return conveyer 23.Allow position on workpiece 11 (camera body) return conveyer 23 with from transmission
Position on band 23 before lifting workpieces 11 (camera body) is different.
Arm robot 25 shares the progress operation identical with arm robot 24 with arm robot 24.That is, by workpiece
11 (camera bodies) are integrally promoted with pallet 51, and the workpiece 11 (camera body) and pallet 51 are integrally installed at processing dress
It puts in some in 71~processing unit 79.It (is processing unit 71~processing in Fig. 1 that arm robot 25, which is worked as from processing unit,
Device 79) receive processing complete signal when, integrally removed with pallet 51 from the device by workpiece 11 (camera body).It is arm-type
The workpiece 11 (camera body) removed and pallet 51 are integrally mounted to not pacifying in above-mentioned 15 processing units by robot 25
The processing unit for filling the workpiece 11 (camera body) outputs in the processing unit of idle signal or by itself and pallet 51 1
Body on return conveyer 23.
In this way, by arm robot 25 make the workpiece 11 (camera body) different from arm robot 24 be used as object into
Row operation, thus compared with the situation of operation is only carried out by arm robot 24, as automatic processing device 1, processing speed
It improves.In addition, in Fig. 1,1 workpiece 11 (camera body) is illustrated only on conveyer belt 23, but in fact, be placed with multiple
Workpiece 11 (camera body).Multiple workpiece 11 (camera body) are carried out operation by arm robot 24 (25).
Conveyer belt 23 is in the case where workpiece 11 (camera body) is not present in the movable range of arm robot 25, by work
Part 11 (camera body) is carried to the movable range of arm robot 25, and stops temporarily.
For the workpiece 11 (camera body) integrally loaded with pallet 51 on conveyer belt 23, in pre-determined whole
When adjustment is completed in 15 processing units, being checked, the pallet 51 of the workpiece 11 (camera body) is carried to submitting by conveyer belt 23
Mouth 26.Positioned at the operator Y (not shown) sent out outside mouth 26 after workpiece 11 (camera body) is removed from the pallet 51 being handled upside down,
Only pallet 51 is put into from pallet return port 32 in housing 21.In addition, 11 (the camera of workpiece that operator Y will be adjusted, inspection finishes
Fuselage) it is carried to subsequent processing.
Conveyer belt 28 is driven by motor (not shown), and pallet 51 is carried along arrow B directions.Conveyer belt 28 is by pallet
51 are carried to outlet 29.Above-mentioned operator X takes out pallet 51 from outlet 29.Operator X is by new (the camera machine of workpiece 11
Body) it is fastened on the pallet 51 of taking-up.
Arm robot 24 or arm robot 25 are worked as integrally to be installed at workpiece 11 (camera body) from pallet 51
Reason device (being 71~processing unit of processing unit 79 in Fig. 1) is when receiving anomaly detection signal, from the processing unit by workpiece
11 (camera bodies) are integrally removed with pallet 51.11 (the camera of workpiece that arm robot 24 or arm robot 25 will remove
Fuselage) it is integrally positioned on conveyer belt 27 with pallet 51.
Conveyer belt 27 is driven by motor (not shown), and pallet 51 is carried along arrow C directions.Conveyer belt 27 will be tested
Abnormal workpiece 11 (camera body) is measured integrally to be carried on conveyer belt 28 with pallet 51.Conveyer belt 28 will detect exception
Workpiece 11 (camera body) and pallet 51 be integrally carried to outlet 29.Above-mentioned operator X is from outlet 29 and pallet 51
It integrally takes out and detects abnormal workpiece 11 (camera body), and be rejected to other than production line.
The series operation ＞ of ＜ automatic processing devices
Above-mentioned automatic processing device 1 is configured to operate parallel in series.Fig. 6 is automatic for illustrating to have linked 3
The figure of the state of processing unit 1.In the situation more than the processing unit number for being adjusted, checking to 1 workpiece 11 (camera body)
Under (for example, it is desired to processing unit number be more than that can be accommodated in 16 of housing 21) or (the camera machine of workpiece to be increased by 11
Body) production number in the case of, preferred series operation.
As with reference to Fig. 1 explanations, 3 automatic processing devices 1 are respectively provided with input port 22, outlet 29, send out mouth 26
And pallet return port 32.For input port 22 and send out mouth 26, the submitting mouth 26 of the automatic processing device 1 of upstream side be arranged on
The opposite position in the input port 22 of the automatic processing device 1 in downstream side.Similarly, for pallet return port 32 and outlet 29,
The outlet 29 of the automatic processing device 1 in downstream side is arranged on 32 phase of pallet return port with the automatic processing device of upstream side 1
To position.
According to Fig. 6, even if in the case where making automatic processing device 1 with more series operations, it is not required that relative to logical
Crossing the situation of 11 individual operation of automatic processing device increases operator, as long as the throwing of the automatic processing device 1 positioned at upstream side
The operator Y this two sent out outside mouth 26 of operator X outside entrance 22 and the automatic processing device 1 positioned at downstream side.
The situation ＞ more than processing unit number that ＜ is adjusted 1 workpiece 11 (camera body), checks
For example, in the case that the processing unit number used in adjustment, inspection is 30, in automatically processing for upstream side
Adjustment completed by 10 processing units in device 1, checked, filled in next automatic processing device 1 by other 10 processing
It puts completion adjustment, check, in the automatic processing device 1 of further downstream, adjustment, inspection are completed by remaining 10 processing units
It looks into, shares task between more automatic processing devices 1 in the above described manner.
Task is shared by combining identical automatic processing device 1, without newly introducing than automatic processing device 1
The automatic processing device of large-scale (30 processing units of storage), therefore cost can be inhibited.
The situation ＞ of the production number of ＜ workpiece 11 (camera body) to be increased
For example, in the case that the processing unit number used in adjustment, inspection is 15, in automatically processing for upstream side
It in device 1, completes adjustment by 5 processing units, check, in next automatic processing device 1, filled by other 5 processing
It puts completion adjustment, check, in the automatic processing device 1 of further downstream, complete adjustment by remaining 5 processing units, check,
By this method task is shared between more automatic processing devices 1.
Task is shared by combining identical automatic processing device 1, without newly introducing than automatic processing device 1
The automatic processing device of large-scale (such as with 6 arm robots), therefore cost can be inhibited.
Embodiment from the description above can obtain following function and effect.
(1) in automatic processing device 1, the workpiece 11 (camera body) with the opening 15 entered for light beam should with fixing
The pallet 51 of workpiece 11 (camera body) is integrally positioned on conveyer belt 23.Arm robot 24 or arm robot 25 are from biography
Band 23 is sent integrally to promote workpiece 11 (camera body) with pallet 51, to workpiece 11 (camera body) be adjusted processing and
It checks multiple processing units 71~79 of processing rotation workpiece 11 (camera body) successively in a manner of with the one of pallet 51, makes tune
Whole processing and inspection handle the workpiece 11 (camera body) completed and pallet 51 integrally return conveyer 23.Thereby, it is possible to
To the good automatic processing device 1 of ease of use.In addition, be not fixed on pallet 51 with workpiece 11 (camera body),
But directly load on a moving belt, and promoted from conveyer belt, compared to the situation of conveyer belt return, in automatic processing device
In 1, arm robot 24 or arm robot 25 grabbing workpiece 11 (camera body) and are carried indirectly, so as to reduce pair
The possibility that workpiece 11 (camera body) is caused to damage or be polluted.
(2) arm robot 24 (25) make the opening 15 of workpiece 11 (camera body) respectively with 71~79 phase of processing unit
It is right, and during by workpiece 11 (camera body) relative to processing unit 71~79 successively rotation, via pallet 51 by workpiece 11
(camera body) is installed on each processing unit in multiple processing units 71~79.Moreover, multiple processing units 71~79 according to
The workpiece 11 (camera body) of secondary installation is that through hole 56 is adjusted processing and inspection department via opening possessed by pallet 51
Reason.Workpiece 11 (camera body) is installed to processing unit 71~79 by arm robot 24 (25) via pallet 51, as a result, with
Workpiece 11 (camera body) is mounted directly to each processing unit in multiple processing units 71~79 not via pallet 51
Situation is compared, and can exclude the possibility that workpiece 11 (camera body) is caused to damage or be polluted.
(3) each arm robot of arm robot 24 and 25 to multiple workpiece 11 (camera body) respectively into being about to workpiece
11 (camera bodies) and the integrally processing to multiple processing units 71~79 successively rotation of pallet 51, as a result, each arm-type machine
People into be about to multiple workpiece 11 (camera body) each with pallet 51 integrally relative to multiple processing units 71~79
The operation of each movement and the operation of dismounting.That is, by arm robot 24 (25) into exercising multiple (camera machines of workpiece 11
Body) relative to the operation of multiple processing units 71~79 movement and the operation of dismounting.Therefore, it is possible to automatically process dress by 1
1 realization is put for example with concurrently carrying out dismounting 1 workpiece 11 (camera body) relative to 1 processing unit by multiple operators
Operation the same workload of situation.
(4) due to the conveyer belt 23 by being placed with the workpiece 11 (camera body) integrated with pallet 51, from input port 22
It is carried by the movable range of arm robot 24 (25) towards submitting mouth 26, so it is good to obtain ease of use
Automatic processing device 1.In addition, due to not needing to the necessary movable range for expanding arm robot 24 (25) with Shangdi, so
It is related to the cost reduction of arm robot 24 (25).
(5) arm robot 25 is by workpiece 11 (camera body) that is mobile to processing unit with arm robot 24 and installing
Different workpiece 11 (camera body) is mobile to other processing units and installs.Specifically, as shown in figure 8, in arm-type machine
People 24 integrally fill 1 workpiece 11A in multiple workpiece 11 (camera body) and pallet 51 relative to multiple processing
71~79 are put successively after the processing of rotation, workpiece 11A is carried to the movable range of arm robot 25 by conveyer belt 23.
At the same time, by conveyer belt 23 by the workpiece 11B in multiple workpiece 11 (camera body) be carried to arm robot 24 can
Dynamic range.At this point, arm robot 25 into be about to workpiece 11A and pallet 51 integrally relative to multiple processing units 71~79 according to
The processing of secondary rotation, and arm robot 24 is into being about to workpiece 11B and pallet 51 integrally relative to multiple processing units 71
The processing of~79 rotations successively.Therefore, with only multiple workpiece to the movement of multiple processing units and are pacified by 1 arm robot
The situation of dress is compared, and the processing speed of automatic processing device 1 improves.
(6) in the case where making more automatic processing devices 1 side by side, among 2 mutually adjacent automatic processing devices 1
An automatic processing device 1 be upstream side automatic processing device 1 submitting mouth 26 and another automatic processing device 1 be under
2 mutually adjacent automatic processing devices 1 are configured in the mode that the input port 22 of the automatic processing device 1 of trip side is opposite.Therefore, energy
It is enough automatically to carry workpiece 11 (camera body) from the automatic processing device of upstream side 1 towards the automatic processing device 1 in downstream side.
(7) pallet 51 includes tray seat 52 that is chimeric with the fuselage seat 13 of workpiece 11 (camera body) and fastening.Pass through support
The fastening of the fuselage seat 13 of disk seat 52 and workpiece 11 (camera body), workpiece 11 (camera body) are fixed on pallet 51.Cause
This, for the various workpiece 11 (camera body) with common fuselage seat 13, can utilize common processing unit to implement to adjust
Whole processing and/or inspection processing.
(8) pallet 51, which is included in, is filled workpiece 11 (camera body) mounted on multiple processing by arm robot 24 or 25
When putting in some in 71~79, in order to by arm robot 24 or 25 promoted and with 24 or 25 knot of arm robot
The pallet connector 53 of conjunction.Pallet connector 53 is arranged on the face identical with tray seat 52.It will in arm robot 24 or 25
Workpiece 11 (camera body) to processing unit 71~79 install when, arm robot 24 or 25 will not be with workpiece 11 (camera body)
Contact.Therefore, common arm robot 24 or 25 will not be such that various types of workpiece 11 (camera body) damage or impurely
To common processing unit movement and dismount.
(9) in pallet 51, by arm robot 24 or 25 by workpiece 11 (camera body) mounted on multiple processing
The incised notch portion set when in some in device 71~79 for the catcher support for processing unit and fixed tray 51
55 are formed on the face identical with tray seat 52, and in order to carry out (the camera machine of workpiece 11 through arm robot 24 or 25
Body) in processing unit when positioning, be formed on pallet 51 for processing unit guide pin insertion location hole.Cause
This, various workpiece 11 (camera body) are not contacted with common processing unit and are damaged by common arm robot 24 or 25
Wound is impurely mounted.
(10) Fig. 9 is in the automatic processing device 1 of present embodiment, carries out multiple 71~79 pairs of workpiece 11 of processing unit
The adjustment processing and inspection processing of (camera body) when predetermined processing when, represented as flow chart through arm robot 24 and
The figure of the 25 above-mentioned processing methods automatically processed carried out respectively to workpiece 11 (camera body).When originally automatically processing beginning,
In step S910, arm robot 24 and 25 is respectively in a manner of 51 one of pallet with being fixed with workpiece 11 (camera body)
The workpiece 11 (camera body) with the opening 15 entered for light beam is promoted from conveyer belt 23.In step S920, arm-type machine
Workpiece 11 (camera body) and pallet 51 are integrally adjusted processing by people 24 and 25 to workpiece 11 (camera body) respectively
And the rotation successively of multiple processing units 71~79 of the predetermined processing of inspection processing etc..In step S930, arm robot 24
And 25 make to complete respectively the workpiece 11 (camera body) of above-mentioned predetermined processing and pallet 51 integrally return conveyer 23.
(first variation)
In the above description, the camera body of simple eye reflection-type is instantiated but it is also possible to be non-reflective as workpiece 11
Simple eye type camera body.
(the second variation)
It can also be using interchangeable lenses 12 as workpiece 11.Adjustment in this case, in checking, for example, from being arranged on
Data etc. as defined in signal terminal (not shown) input in lens mount 14, in interchangeable lenses 12, this side obtains defined letter
Breath.
(third variation)
Alternatively, it is also possible to replace the camera body of lens changeable, using the one-piece type camera of camera lens as workpiece 11.The situation
Under, the one-piece type camera of camera lens in the midway stage in assembling procedure is fixed on pallet, and is integrally installed with the pallet
To 71~processing unit of processing unit 79.It can be used for monitoring in addition, camera both can be used for record, can also be as mould
Block carries camera unit in the electronic device.
(the 4th variation)
In the above-described embodiment, the automatic processing device 1 with 2 arm robots 24,25, but arm-type machine are instantiated
Device people can also only have 1.Fig. 7 is the figure for instantiating the automatic processing device 1B only with 1 arm robot 25.Except arm-type
Other structures other than robot 25 are identical with automatic processing device 1.
(5th variation)
The quantity of arm robot is not limited to above-mentioned 1 or 2 possessed by 1 automatic processing device, can be 3 or
It is more than 4 or the quantity.In addition, the quantity of processing unit that can be mounted on 1 automatic processing device is not limited to
Above-mentioned 16 can be 4 or 10 or 20 or 30, can also be more than the quantity.
Above explanation only example is at all not limited to the structure of the above embodiment.
The disclosure of following basis for priority application is had been incorporated as citation.
Japanese patent application 2013 No. 63385 (proposition on March 26th, 2013)
The explanation of reference numeral
1 automatic processing device
11 workpiece (camera body)
12 interchangeable lenses
21 housings
22 input ports
23rd, 27,28 conveyer belt
24th, 25 arm robot
26 send out mouth
29 outlets
31 air cleaning machines
32 pallet return ports
51 pallets
52 tray seats
53 pallet connectors
54 location holes
55 incised notch portions
56 through holes (opening)
71~79 processing units
80 dismounting portions
Claims (11)
1. a kind of automatic processing device, which is characterized in that have：
Multiple processing units, to having the Optical devices for the opening that light beam is supplied to enter to carry out predetermined processing；
Mounting table integrally loads the pallet of the Optical devices and the fixed Optical devices；And
Arm robot is integrally promoted from the mounting table by the Optical devices and the pallet, and by the optics
Device, integrally relative to the multiple processing unit successively rotation, makes to complete the described of the predetermined processing with the pallet
Optical devices integrally return to the mounting table with the pallet.
2. automatic processing device as described in claim 1, which is characterized in that
The pallet has opening,
The opening and each processing unit phase in the multiple processing unit that the arm robot makes the Optical devices
It is right, and during by the Optical devices relative to the multiple processing unit successively rotation, via the pallet by the optics
Device is installed to each processing unit,
Described in the multiple processing unit carries out the Optical devices installed successively via opening possessed by the pallet
Predetermined processing.
3. automatic processing device as claimed in claim 2, which is characterized in that
Each of multiple Optical devices is handled as follows in the arm robot：By the Optical devices and the pallet
Integrally to the multiple processing unit successively rotation, the as a result, following operation of the arm robot progress：By the multiple light
Each of device is with the pallet integrally relative to the operation and dismounting of each movement of the multiple processing unit.
4. automatic processing device as claimed in claim 3, which is characterized in that
The automatic processing device also has input port and sends out mouth,
The mounting table has the function of to carry as follows, by the Optical devices and the pallet integrally from the input port via
The movable range of the arm robot is carried towards the submitting mouth.
5. automatic processing device as claimed in claim 4, which is characterized in that
The arm robot includes the first arm robot and the second arm robot,
It has been carried out in first arm robot by the first Optical devices in the multiple Optical devices and the pallet one
Body after processing relative to the multiple processing unit successively rotation, first Optical devices by the mounting table and
It is carried to the movable range of second arm robot, and the second Optical devices in the multiple Optical devices
When the movable range of first arm robot is carried to by the mounting table, second arm robot
Into being about to first Optical devices and the pallet integrally relative to the processing of the multiple processing unit successively rotation, and
And first arm robot is into being about to second Optical devices and the pallet integrally relative to the multiple processing
The processing of device rotation successively.
6. automatic processing device as claimed in claim 5, which is characterized in that
The automatic processing device includes the first automatic processing device and the second automatic processing device, and described first automatically processes dress
It puts and the second automatic processing device is configured adjacent to each other,
The submitting mouth of first automatic processing device is opposite with the input port of second automatic processing device.
7. a kind of pallet is fixed and carries Optical devices, which is characterized in that
Have：
Tray seat that is chimeric with the portions of the Optical devices and fastening；With
The Optical devices are being mounted on to institute by one of connector and grip part, the connector by arm robot
State Optical devices carry out predetermined processing processing unit when, in order to by the arm robot promoted and with it is described arm-type
Robot combines, and the Optical devices are being mounted on to the Optical devices into professional etiquette by the grip part by arm robot
During the processing unit handled surely, in order to be promoted to be held by the arm robot by the arm robot.
8. pallet as claimed in claim 7, which is characterized in that
The connector is arranged on the face identical with the tray seat.
9. pallet as claimed in claim 8, which is characterized in that
When the Optical devices are mounted in the processing unit by the arm robot, in order to be filled for the processing
The catcher support put and the fixed pallet and the incised notch portion that sets are formed on the face identical with the tray seat, and be
The positioning when Optical devices are mounted in the processing unit by the arm robot, is formed with for institute
State the location hole that the guide pin of processing unit is inserted into.
10. pallet as claimed in claim 7, which is characterized in that
The Optical devices are the camera bodies of camera,
The portions of the Optical devices are the fuselage seats of the camera body.
11. a kind of automatic processing method, which is characterized in that
It will be with the pallet one of the Optical devices and the fixed Optical devices of opening that light beam is supplied to enter by arm robot
It is promoted to body, and by the Optical devices and the pallet integrally to multiple places that the Optical devices are carried out with predetermined processing
Device rotation successively is managed,
The Optical devices for completing the predetermined processing is made integrally to return with the pallet by the arm robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810606341.1A CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
| CN201810608694.5A CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013063385 | 2013-03-26 | ||
| JP2013-063385 | 2013-03-26 | ||
| PCT/JP2014/058252 WO2014157189A1 (en) | 2013-03-26 | 2014-03-25 | Automatic processing device, automatic processing method, and pallet |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810606341.1A Division CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
| CN201810608694.5A Division CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105263670A CN105263670A (en) | 2016-01-20 |
| CN105263670B true CN105263670B (en) | 2018-07-06 |
Family
ID=51624159
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480030167.0A Active CN105263670B (en) | 2013-03-26 | 2014-03-25 | Automatic processing device, automatic processing method and pallet |
| CN201810608694.5A Active CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
| CN201810606341.1A Pending CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810608694.5A Active CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
| CN201810606341.1A Pending CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
Country Status (3)
| Country | Link |
|---|---|
| JP (3) | JP6337884B2 (en) |
| CN (3) | CN105263670B (en) |
| WO (1) | WO2014157189A1 (en) |
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| JP6220216B2 (en) * | 2013-10-15 | 2017-10-25 | 川崎重工業株式会社 | Camera inspection jig |
| JP6540196B2 (en) * | 2015-04-28 | 2019-07-10 | セイコーエプソン株式会社 | Robot system |
| WO2016174841A1 (en) * | 2015-04-28 | 2016-11-03 | セイコーエプソン株式会社 | Robot system and robot |
| JP2016203348A (en) * | 2015-04-28 | 2016-12-08 | セイコーエプソン株式会社 | Robot system |
| JP2016203347A (en) * | 2015-04-28 | 2016-12-08 | セイコーエプソン株式会社 | Robot system and robot |
| JP6965247B2 (en) | 2016-08-14 | 2021-11-10 | ファナック株式会社 | Dishwashing system and robot equipment |
| CN110091465B (en) * | 2018-01-31 | 2024-06-11 | 厦门科利捷自动化科技有限公司 | Automatic demolish metal insert waste material ultrasonic wave and shake and fall balance all-in-one |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2020078863A (en) | 2020-05-28 |
| WO2014157189A1 (en) | 2014-10-02 |
| JP6870713B2 (en) | 2021-05-12 |
| CN108942205A (en) | 2018-12-07 |
| JP2018158440A (en) | 2018-10-11 |
| CN108942205B (en) | 2020-11-27 |
| JP6601532B2 (en) | 2019-11-06 |
| CN108907701A (en) | 2018-11-30 |
| JP6337884B2 (en) | 2018-06-06 |
| CN105263670A (en) | 2016-01-20 |
| JPWO2014157189A1 (en) | 2017-02-16 |
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