JP5669605B2 - Component supply apparatus and component supply method - Google Patents

Description

  The present invention relates to a component supply apparatus and a component supply method for supplying and taking out components interposed between an operator and a robot.

In an operation process of assembling parts using a robot in a production facility, it is necessary to supply parts to the robot or take out a finished product.
In the absence of a component supply device (for example, a loader / unloader mechanism), since the operator supplies and takes out the components, it is impossible to isolate the operator's work range from the robot's movable range. Therefore, the cycle time is extended by the time required for the parts supply and removal by the operator. Further, the power supply of the actuator of the robot may be cut off during the work of the worker. In such a case, the actuator that needs to return to the origin requires time for returning to the origin, so that the cycle time is extended. These equipment stop losses become an impediment to improving equipment efficiency.

  On the other hand, when parts are supplied and taken out via a loader / unloader mechanism (see, for example, Patent Document 1), it is possible to isolate the work range of the worker from the movable range of the robot. However, since the loader / unloader mechanism itself includes an actuator and a movable part, some measure such as isolating an operator from the loader / unloader mechanism is required. For example, the component supply apparatus disclosed in Non-Patent Document 1 isolates the operator and the robot by alternately exchanging two stages of the work stage and the component supply stage by the table rotation method, and also during the robot operation. Parts can be supplied and removed. However, since the door closes during table rotation and parts cannot be supplied during that time, the problem of equipment stop loss cannot be solved completely.

JP 2009-110640 A

Mako Co., Ltd. [online], [Search January 4, 2011], Internet <URL: http://www.macoho.co.jp/r_search/detail_souchi/00077.html>

  Since the conventional component supply apparatus is configured as described above, there has been a problem that a loss of work time of the robot occurs when supplying and taking out the components.

  The present invention has been made to solve the above-described problems, and it is an object of the present invention to reduce a cycle time by suppressing a loss of work time of a robot when an operator supplies and takes out parts. .

Component supply device according to the invention, is reciprocally moved manually between at least two positions or more parts supply area work area for respectively worker provided on the movable area of the robot, at least two component feed A status determination unit that determines whether or not a part after work has been returned to the component supply unit by the robot, a movable determination unit that determines whether or not the component supply unit has moved to the component supply region, and a status determination The part supply means that has determined that the part after work has been returned by the means is released, and the part supply means can be moved from the component supply area to the worker's work area. A lock control means for operating the lock mechanism of the component supply means determined to have moved to the component supply area, and locking the component supply means in a state incapable of moving from the component supply area; For the parts supply means whose lock mechanism has been released by the lock control means, the parts supply means are moved to the operator's work area, the parts are taken out and the new parts are supplied after the work. And instructing means for instructing.

Component supply method according to the invention, is reciprocally moved manually between at least two positions or more parts supply area work area for respectively worker provided on the movable area of the robot, at least two component feed For each of the means, the situation judging means judges whether the part after work has been returned to the parts supply means by the robot, and the lock control means returns the part after work in the situation judging step. The locking mechanism of the component supply means determined to have been released is released so that the component supply means can be moved from the component supply area to the worker's work area, and the instruction means is locked in the lock release step. For the parts supply means whose mechanism has been released, move the parts supply means to the operator's work area to take out parts after work and supply new parts. The Ukoto, an instruction step of instructing to the operator, moving determining means, a movable determining step of the component supply means determines whether to move the component supply area, the lock control means, the movable decision step And a locking operation step of operating the locking mechanism of the component supply means determined to have moved to the component supply area to make the component supply means unmovable from the component supply area.

  According to this invention, the lock mechanism of the component supply means that has determined that the part after work has been returned is released, and the component supply means is made movable from the component supply area to the worker's work area. By operating the lock mechanism of the component supply means that has been determined to have moved to the component supply area, the part supply means is locked in a state in which it cannot be moved from the component supply area, and the robot is moved to the locked component supply means. While working with existing parts and returning the parts after work to the parts supply means, the operator can take out the parts after work in other parts supply means and supply new parts Therefore, it is possible to reduce the cycle time by suppressing the loss of the work time of the robot when the worker supplies and takes out the parts.

It is a block diagram which shows the structure of the components supply apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the structure of the whole production facility to which the component supply apparatus which concerns on Embodiment 1 is applied. 3 is a flowchart showing the operation of the component supply apparatus according to the first embodiment. 3 is a timing chart illustrating the operation of the entire production facility to which the component supply apparatus according to Embodiment 1 is applied. It is a continuation of the timing chart shown in FIG.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a component supply apparatus 1 according to Embodiment 1 of the present invention. The component supply apparatus 1 includes a tray status determination unit 2 that determines whether or not a workpiece is present in a tray (component supply unit) that is an area for setting or removing a workpiece (component), and a tray. Tray movement determining means 3 for determining whether or not it can be moved, lock control means 4 for locking the tray so that it cannot be moved or unlocked so that it can be moved, and a display for giving instructions to the operator And control means 5.

  FIG. 2 is a diagram illustrating a configuration of a production facility to which the component supply apparatus 1 is applied. In the following, the worker 32 supplies workpieces to the first tray 10 and the second tray 20, and the robot 30 takes out the workpieces and performs a predetermined operation such as an assembly operation in the assembly operation area 31 to complete a finished product (part). The case of returning to the first tray 10 and the second tray 20 will be described as an example. Further, an isolation wall 33 is provided between the robot 30 and the worker 32 to partition each work area, and the movable area of the robot 30 is one robot work area with the isolation wall 33 in between. It is not possible to work on the worker area side beyond 33. On the other hand, the worker 32 cannot enter the robot work area side from the isolation wall 33.

The first tray 10 and the second tray 20 can be manually moved to cross the isolation wall 33 between the robot work area and the worker area. The movable mechanism of the first tray 10 and the second tray 20 may have any configuration. For example, a movable rail is provided on the first tray 10 and the second tray 20 side, and fixed rails 11 and 21 are provided on the work area side. The operator 32 is configured to be manually movable. The first tray 10 in the illustrated example is in a state of being pulled out to the worker area, and the second tray 20 is in a state of being stored in the robot work area. The robot 30 can take out the parts on the tray and return the finished product in the area of the second tray 20 (part supply area).
Each of the first tray 10 and the second tray 20 includes switches (SW in the figure) 12a, 12b, 22a, 22b, lock mechanisms 13, 23, and a display device 14 connected to the component supply device 1. , 24 are provided.

  In FIG. 1 and FIG. 2, the tray status determination means 2 of the component supply apparatus 1 determines whether or not there are workpieces or finished products on the first tray 10 and the second tray 20. As a determination method, for example, information on the operation sequence of the robot 30 is set in advance in the tray status determination unit 2, and the tray status determination unit 2 determines the presence or absence of a workpiece or a finished product according to the operation timing of the robot 30. . In addition, for example, sensors such as proximity sensors, photoelectric sensors, and image sensors are installed in the first tray 10 and the second tray 20, and the tray status determination unit 2 acquires the output of the sensor to determine whether there is a workpiece or a finished product. .

The tray movement determining means 3 determines whether or not the first tray 10 and the second tray 20 are stored on the robot work area side. As a determination method, for example, the switch 12a is disposed on the robot 30 side of the fixed rail 11 as described above, and the switch 12a is turned on when the first tray 10 is moved to the installation position of the switch 12a. Then, the tray movement determining means 3 detects the ON state of the switch 12a, and determines that the first tray 10 is stored on the robot work area side. Similarly, for the second tray 20, a switch 22a may be arranged to detect the on state and determine that it has been stored. The switches are arranged not only on the robot work area side but also on the worker area side (switches 12b and 22b shown in FIG. 2), the switches 12a and 22a are turned off, and then the switches 12b and 22b are turned on. When the state is reached, it may be determined that the first tray 10 and the second tray 20 are stored on the worker area side, and the certainty of the determination by the tray movement determining unit 3 may be improved.
Further, for example, a sensor such as a proximity sensor or a photoelectric sensor may be disposed instead of the switch, and the positions of the first tray 10 and the second tray 20 may be detected in the same manner as the switch, or the image sensor of the tray status determination unit 2 You may judge by diverting.

The lock control unit 4 independently controls the lock mechanisms 13 and 23 provided in the first tray 10 and the second tray 20 respectively, and locks based on the determination results of the tray status determination unit 2 and the tray movable determination unit 3. The mechanisms 13 and 23 are locked to place the first tray 10 and the second tray 20 in a fixed state, or the lock is released to make it movable. The lock mechanisms 13 and 23 may have any configuration as long as at least movement on the robot work area side can be locked and unlocked.
The lock operation condition is, for example, that the operator 32 pushes the tray on which the workpiece is set into the robot work area, and at least the tray movement determination means 3 determines that the tray is stored on the robot work area side. Then, the lock control means 4 may operate the tray locking mechanism.
The unlocking condition is, for example, that the robot 30 returns the finished product to the tray, and at least the tray status judging means 2 judges that the finished product is in the tray, and the lock control means 4 The tray locking mechanism may be released.

The display control means 5 independently controls the display devices 14 and 24 provided on the first tray 10 and the second tray 20 respectively, and based on the determination results of the tray status determination means 2 and the lock control means 4, The work presence / absence status of the tray 10 and the second tray 20 and the lock / release status are displayed. The operator 32 confirms this display, moves the tray, and sets a work or takes out a finished product.
Note that a display device may be provided for each tray, or one display device may be provided with a plurality of trays. Further, an instruction may be issued to the worker 32 using a device other than a sound device such as a speaker.
Further, the isolation wall 33 is made of a transparent member so that the operator 32 can visually check the set state of the work on the first tray 10 and the second tray 20, and the display control means 5 and the display devices 14 and 24 are omitted. Also good. When the worker 32 cannot take out the finished product, the first tray 10 and the second tray 20 are locked and cannot be pulled out, so there is no influence on the operation of the robot 30.

  In the example of FIG. 1, the component supply apparatus 1 includes a tray status determination unit 2, a tray movement determination unit 3, a lock control unit 4, and a display control unit 5, and separate first tray 10 and second tray 20. The switches 12a and 22a, the lock mechanisms 13 and 23, and the display devices 14 and 24 are controlled. However, the present invention is not limited to this, and the separate first tray 10 and the like are integrated with the component supply device 1. It may be configured.

Next, the operation of the component supply apparatus 1 will be described using the flowchart shown in FIG. Here, in order to simplify the description, the basic operation of the component supply apparatus 1 will be described using a case where the component supply apparatus 1 includes one first tray 10 as an example.
In the initial state of the production facility, it is assumed that the first tray 10 is stored on the robot work area side. The lock control unit 4 determines whether or not the first tray 10 is movable (step ST1, status determination step). When the first tray 10 is movable (step ST1 “YES”), the tray is locked. Release (step ST2, unlocking step).

In the above-described unlocking conditions, the case where a finished product is present in the first tray 10 is given as a condition. However, when the production facility is operated for the first time, the case where the first tray 10 is exceptionally empty is used as the unlocking condition. . Accordingly, when the tray status determination means 2 determines that the first tray 10 is empty in step ST1, the lock control means 4 determines that the first tray 10 is movable and releases the lock of the lock mechanism 13. Subsequently, the display control means 5 displays on the display device 14 of the unlocked first tray 10 that the finished product can be taken out and the workpiece can be set, and that the lock is released (step ST3, instruction step). .
Thereafter, if there is a finished product in the first tray 10, the lock control means 4 determines that the first tray 10 is movable and releases the lock. In this case, the display control means 5 is connected to the display device 14. It is displayed that the finished product can be taken out and that the lock is released.

  The worker 32 confirms the display on the display device 14, pulls out the first tray 10 to the worker area, takes out the finished product, and sets a new work on the first tray 10. After the work setting, the worker 32 manually pushes the first tray 10 to the robot work area.

  The lock control means 4 determines whether or not the first tray 10 is stored on the robot work area side based on the determination result of the tray movement determination means 3 (step ST4, movement determination step). (Step ST4 “YES”), the tray is locked (step ST5, lock operation step). Further, the display control means 5 turns off the display on the display device 14.

  The robot 30 takes out the work set on the locked first tray 10 according to a preset operation sequence, handles it in the assembly work area 31, and performs work such as assembly. The work after the work is handled by the robot 30 as a finished product to the original first tray 10.

  By repeating this, the robot 30 and the worker 32 can proceed with the process without interfering with each other.

  Although only the first tray 10 has been described above, the same processing may be performed for the second tray 20. In particular, when there are two trays, one of the trays is locked on the robot work area side and the robot 30 is working while the other tray is unlocked to allow the operator 32 to take out the finished product and set the work. By doing so, the waiting time of the robot 30 can be eliminated. Specific examples are shown below.

Here, the operation of the entire production facility will be described using the timing charts shown in FIGS. 4 and 5. In FIGS. 4 and 5, the state in which there is no work in the first tray 10 or the second tray 20 is indicated as blank, “wa” when present, and “complete” when there is a finished product. Further, a state in which the robot 30 is not working in the assembly work area 31 is indicated as blank, and “way” is indicated during work.
When the first tray 10 has no workpiece, the second tray 20 has a workpiece, and the robot 30 is in the process of assembling the workpiece supplied by the first tray 10 in the assembly work area 31 (step ST11), the robot 30 When the work is completed, the finished product is taken out from the assembly work area 31 (step ST12) and placed on the original first tray 10 (step ST13).

When the finished product is placed on the first tray 10, the component supply device 1 determines that the first tray 10 is movable, unlocks the lock mechanism 13, and removes the finished product and sets the work on the display device 14. A possible state is displayed (step ST14). Details are as described above.
After confirming the display on the display device 14, the worker 32 draws the first tray 10, takes out the finished product, and sets a new work (step ST15). Although details will be described later, this operation may be performed at any timing as long as it is within the range of time T.
When the workpiece is set and the first tray 10 is stored on the robot work area side, the component supply device 1 turns off the display on the display device 14 (step ST16) and sets the lock mechanism 13.

While the operator 32 takes out the finished product from the first tray 10 and sets a new work, the robot 30 takes out the work set on the second tray 20 and handles it in the assembly work area 31 (step ST17). When the robot 30 completes the work on this work (step ST18), the robot 30 takes out the finished product from the assembly work area 31 (step ST19) and places it on the original second tray 20 (step ST20).
As described above, while the worker 32 is working on the first tray 10, the robot 30 is working on the work taken out from the second tray 20, and is taken out to the area of the first tray 10. It works so as not to do work. Therefore, the time T (between steps ST13 to ST20) from when the robot 30 places the previous finished product on the first tray 10 until the current finished product is placed on the second tray 20, the operator 32 is at an arbitrary timing. The previous completed product can be taken out from the first tray 10 and a new work can be set.

When the finished product is placed on the second tray 20, the component supply device 1 determines that the second tray 20 is in a movable state, releases the lock of the lock mechanism 23, and removes the finished product and sets the work on the display device 24. A possible state is displayed (step ST21).
After confirming the display on the display device 24, the operator 32 pulls the second tray 20 out, removes the finished product, and sets a new workpiece (step ST22). This operation may be performed at any timing as long as it is within the range of time T.
When the workpiece is set and the second tray 20 is stored on the robot work area side, the component supply device 1 turns off the display on the display device 24 (step ST23) and sets the lock mechanism 23.

  While the worker 32 takes out the finished product from the second tray 20 and sets a new work, the robot 30 takes out the work set on the first tray 10 and handles it in the assembly work area 31 (step ST24). When the robot 30 completes the work on this work (step ST25), the robot 30 takes out the finished product from the assembly work area 31 (step ST26) and places it on the original first tray 10 (step ST27).

  This is repeated below. That is, when the finished product is placed on the first tray 10, the lock on the first tray 10 is released, the finished product is taken out and the work set is instructed to the operator 32 (step ST28), and the operator 32 gives the instruction. Upon receipt, the finished product is taken out and the workpiece is set (step ST29). During this time, the robot 30 takes out the workpiece from the other second tray 20 and handles it in the assembly work area 31 (step ST30), and performs the work.

  By repeating the above steps, it becomes possible for the robot 30 and the worker 32 to proceed with processing without interfering with each other. In addition, the robot 32 only needs to take out the finished product and set the work on the other tray within the time T during which the robot 30 performs the work such as assembling the work on the one tray. 30 does not need to wait for the work of the worker 32, and does not need to stop the robot 30 for the work of the worker 32. Therefore, loss of work time can be minimized and production cycle time can be shortened.

From the above, according to the first embodiment, the component supplying device 1, the first tray 10 and second tray 20 is reciprocated manually between the robot working area separated by partition wall 33 and the operator region The tray status determining means 2 for determining whether or not the finished product after working by the robot 30 has been returned to the first tray 10 and the second tray 20, and the first tray 10 and the second tray 20 are the robot work area. The tray movement determining means 3 for determining whether or not the product has been stored, and the locking mechanisms 13 and 23 of the first tray 10 or the second tray 20 determined by the tray status determining means 2 to have been returned, The tray can be moved from the robot work area to the worker area, and the first tray 10 or the first tray 10 determined to have been stored in the robot work area by the tray movement determination means 3. The lock mechanisms 13 and 23 of the tray 20 are operated to make the tray unmovable from the robot work area, and the first tray 10 in which the lock mechanisms 13 and 23 are released by the lock control means 4. Alternatively, with respect to the second tray 20, the display control means 5 for displaying to the worker 32 that the display devices 14 and 24 move the tray to the worker area to take out the finished product and supply a new workpiece. It comprised so that.
For this reason, while the robot 30 performs the work using the work in one of the first tray 10 and the second tray 20 to which the robot 30 is locked and returns the finished product, the worker 32 can move the first tray 10 and the first tray 10. The finished product on either one of the two trays 20 can be taken out and a new work can be set.
Therefore, the work time loss of the robot 30 when the worker 32 takes out the finished product and sets the work can be suppressed, and the cycle time can be shortened.

  In the first embodiment, the component supply device 1 includes the two trays, the first tray 10 and the second tray 20, but is not limited to this, and there are three or more trays. May be. When the time interval required for the operator 32 to take out the finished product from the tray and set a new workpiece is equal to or longer than the time T shown in FIGS. 4 and 5, the robot 30 waits for the robot 30 to exist. Time can be removed.

  Further, although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to the configurations of the above-described embodiments, and the design is within a range not departing from the gist of the present invention. Needless to say, changes and the like are included in the present invention.

DESCRIPTION OF SYMBOLS 1 Component supply apparatus 2 Tray condition judgment means 3 Tray movement judgment means 4 Lock control means 5 Display control means (instruction means)
10 First tray (component supply means)
11, 21 Fixed rail 12a, 12b, 22a, 22b Switch 13, 23 Lock mechanism 14, 24 Display device (instruction means)
20 Second tray (component supply means)
30 Robot 31 Assembly work area 32 Worker 33 Isolation wall

Claims (2)

Parts supply that supplies parts and takes out parts after work to a robot that performs a predetermined operation using the parts supplied to the parts supply area and returns the parts after the work to the parts supply area A device,
At least two or more component supply means that are manually reciprocated between each of at least two or more component supply regions provided in the movable region of the robot and a worker's work region;
Situation judging means for judging whether or not a part after work is returned to the parts supplying means by the robot;
Movable determination means for determining whether or not the component supply means has moved to the component supply area;
Release the lock mechanism of the component supply means that has determined that the part after work has been returned by the status determination means, and move the component supply means from the component supply area to the worker's work area. A lock control unit that operates a lock mechanism of the component supply unit that has been determined to have moved to the component supply region by the movable determination unit, so that the component supply unit cannot be moved from the component supply region;
With respect to the component supply means whose lock mechanism has been released by the lock control means, the component supply means is moved to the operator's work area to take out the parts after work and supply new parts. A component supply apparatus comprising: an instruction unit that instructs Parts supply that supplies parts and takes out parts after work to a robot that performs a predetermined operation using the parts supplied to the parts supply area and returns the parts after the work to the parts supply area A component supply method applied to an apparatus,
Is reciprocated manually between the working area of each of the at least two or more locations of the component supply region provided on the movable area as the operator of the robot for each of at least two or more component feeding means,
State determining means, a situation determining step of determining whether the parts after the work by the robot is returned to the component supply unit,
The lock control unit can release the lock mechanism of the component supply unit that has determined that the part after work has been returned in the situation determination step, and can move the component supply unit from the component supply region to the worker's work region Unlocking step to make
The instructing means moves the part supplying means to the work area of the worker and removes the part after work and supplies a new part for the part supplying means whose lock mechanism has been released in the unlocking step. An instruction step for instructing the worker;
A movable determining step, wherein the movable determining means determines whether or not the component supplying means has moved to the component supplying area;
The lock control unit operates the lock mechanism of the component supply unit that has been determined to have moved to the component supply region in the movable determination step, so that the component supply unit cannot be moved from the component supply region. A component supply method comprising: an operation step.

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