JP4697049B2 - Workpiece transfer method, workpiece transfer device, and workpiece transfer system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece transfer apparatus capable of easily performing workpiece transfer work without performing manual work by an operator even if kinds of workpieces are increased, and capable of suppressing a cycle time to the minimum. <P>SOLUTION: In a first area A1, first pallets 4A-4D and a first handling robot 1 are arranged, in a second area A2, first pallets 4E-4H and a second handling robot 2 are arranged, and a second pallet 5B is arranged in a space between these first area A1 and the second area A2. When one of robot 1 transfers workpieces 3A-3H to the second pallet 5B, the second pallet 5B is rotated toward the robot 1. When the one side robot 1 completes the transfer to the second pallet 5B, the second pallet 5B is rotated toward the other robot 2. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to a workpiece transfer method, a workpiece transfer device, and a workpiece transfer system.

  As technologies for automating vehicle assembly lines, there are already automated processes, processes that are expected to be automated in the future due to technological advances, and processes that are deemed difficult to be automated in the future. For the time being, it is assumed that humans will be working on processes that are expected to be automated in the future, and a technology is disclosed that can immediately switch to automated work without changing line equipment when automation becomes possible. (See, for example, Patent Document 1).

In the assembly line of a vehicle, for example, a work of transferring a windshield or rear glass from a dedicated pallet to a synchronized pallet according to the assembly production sequence of the vehicle (picking work) out of a plurality of assembly parts is not automated but by an operator. Is going.
Japanese Patent Publication No. 6-83938

  Workers work in a vast area because there are multi-model, multi-spec assembly parts. For this reason, an operator needs to walk in a wide area for a predetermined part, and the number of walks increases and workability deteriorates. Further, in the case of heavy parts such as glass, the transfer work to the pallet is difficult, and the burden on the worker is great.

  Therefore, according to the present invention, even when the number of specifications (types) of parts increases, the work can be easily transferred without manual work by the operator, and the cycle time can be minimized. It is an object of the present invention to provide a workpiece transfer method, a workpiece transfer device, and a workpiece transfer system.

The workpiece transfer method of the present invention is an assembly process for attaching different types of workpieces to different types of products, and a plurality of first types in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet. The workpiece transfer method is such that after a predetermined workpiece is taken out from the pallet by a robot to which a workpiece take-out means is attached, the workpiece is transferred to a second pallet and arranged so as to be in the production order of the products. A first robot capable of accessing a plurality of first pallets arranged so as to surround the first robot fixed to the first area, and a side opposite to the first area across the second pallet a second second robot may access the first pallet which is more disposed to surround the robot fixed to the second area of the The products of the production order each from a predetermined first pallet which is arranged in the area of the first and second depending on the robot takes out the workpiece, the second between the first area and the second area When transferring to the second pallet that has moved from the pallet loading position to the workpiece transfer position, the second pallet is rotated with the workpiece input port facing toward any robot holding the workpiece. It is characterized by that.

The workpiece transfer device according to the present invention is an assembly process in which different types of workpieces are attached to different types of products, and a plurality of first types in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet. A workpiece transfer device for transferring the workpiece from the pallet to a second pallet for arranging the workpieces in the production order of the products, and a plurality of first pallets arranged in the first area; A first robot fixed to the first area so as to be surrounded by the first pallet in the first area and capable of accessing the first pallet and the second pallet in the first area; a first pallet which is more disposed in the area, the second so as to be surrounded by the first pallet area is fixed to the second area, the first of the second area A second robot that can be accessed let the second pallet, move to the work sorting position from the second pallet loading position between the first area of the second area, it is disposed in each area the first robot and a second pallet that will be rotatable toward the workpiece inlet to the second robot, the first robot and the second robot the second pallet from the first pallet And a control unit for performing an operation of transferring the workpiece to the robot and an operation of rotating the second pallet toward the robot when any of the robots transfers the workpiece to the second pallet. Features.

The workpiece transfer system of the present invention is an assembly process in which different types of workpieces are attached to different types of products, and a plurality of first types in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet. A workpiece transfer system for transferring the workpiece from the pallet to a second pallet for arranging the workpieces in the production order of the products, so that the workpiece is surrounded by the first pallet in the first area. surrounded by the first robot may access the first pallet and a second pallet which is more disposed in a fixed and said first area to the first area, the first pallet of the second area second robot that can access the first pallet and a second pallet which is more disposed to and the second area is fixed to the second area to If, and to move from the second pallet load position between the first area and the second area to the work sorting position, towards the first robot or the workpiece inlet to the second robot which is placed in each area and a second pallet that will be free to rotate, when the type of the workpiece is increased, the first in which a plurality arranged in a third area adjacent to one of said first area or the second area A package comprising a pallet, a workpiece temporary table, and a third robot that can access the workpiece temporary table and the first pallet in the third area is added, and the workpieces of the first and second robots are transferred. Along with the changing operation, the third robot takes out the next workpiece in the assembly production order from the first pallet in the third area and arranges it on the temporary work table.

  According to the workpiece transfer method of the present invention, the operation of transferring a workpiece (parts) from the first pallet to the second pallet by the robot so as to be in the assembly production order without depending on the operator is automated. In addition, the workpieces can be efficiently transferred and arranged by two robots from the first pallet to the second pallet according to the product production order, greatly reducing the cycle time of the workpiece transfer operation. can do. That is, according to the method of the present invention, while one robot moves the workpiece to the second pallet, the other robot also takes the next workpiece to the first pallet and transfers it to the second pallet. Since the operation can be performed, the work transfer work can be performed efficiently.

  According to the workpiece transfer apparatus of the present invention, when any of the robots transfers the workpiece to the second pallet, the operation of rotating the second pallet toward the robot is performed. The transfer operation can be performed without loss, and the workpiece can be transferred efficiently.

  According to the workpiece transfer system of the present invention, a plurality of first pallets arranged in a third area adjacent to either the first area or the second area, a workpiece temporary table, and the workpiece temporary table. By adding a package consisting of a third robot that can access the first pallet in the third area, even if the number of workpieces increases, it is easy to increase the number of workpieces without significantly changing the system configuration. Can respond.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In the present embodiment, glass (workpiece), which is one of automotive parts to be assembled to an automobile (product), is transferred from the first pallet to the second pallet so as to be in the assembly production order. .

"Description of workpiece transfer device"
FIG. 1 is a layout diagram showing an example of a workpiece transfer device, and FIG. 2 is a correction for making the workpiece holding position coincide with the reference position of the robot before the workpiece is taken out from the first pallet by the workpiece picking means and transferred to the second pallet. It is a perspective view which shows the position alignment means for performing operation | movement.

  The workpiece transfer device includes two handling robots 1 and 2 and each handling robot 1 and 2 (one handling robot 1 is a first handling robot (first robot) 1 and the other handling robot 2 is a second handling). Robot (second robot) 2) is placed in an area A (first area A1 and second area A2) that can be accessed respectively, and the work (glass) 3 (3A to 3H) having the same type of rectangular shape. Are arranged between a plurality of first pallets 4 (4A to 4H) and a first area A1 and a second area A2, and the first handling robot 1 and the second handling robot 2 are disposed around the first pallet 4 (4A to 4H). A predetermined pallet 3 is taken out from some accessible first pallets 4A to 4H, and the second pallet 5 (in which the work 3 is transferred) And A~5C), and a positioning means to align the workpiece holding position in which the first handling robot 1 and the second handling robot 2 is held at the reference position of the robot.

  Further, the workpiece transfer apparatus is configured such that the first handling robot 1 and the second handling robot 2 transfer the workpiece 3 from the first pallet 4 to the second pallet 5, and any one of the robots 1 and 2 is the first. And a control unit 6 that rotates the second pallet 5 toward the robots 1 and 2 when the work 3 is transferred to the second pallet 5.

  The first pallet 4 is a dedicated pallet that patrols between a workpiece manufacturer that manufactures the workpiece 3 and a vehicle production factory that uses the workpiece 3 to assemble an automobile, and is arranged on the carriage. It is arranged at a predetermined position on the work floor. In the present embodiment, first pallets 4 </ b> A to 4 </ b> D are arranged at four locations so as to surround the first handling robot 1 in a first area A <b> 1 that can be accessed by the first handling robot 1. Similarly, the first pallets 4E to 4H are arranged at four locations so as to surround the second handling robot 2 in the second area A2 that can be accessed by the second handling robot 2. In FIG. 1, each of the handling robots 1 and 2 has access to four first pallets 4, and a total of eight first pallets 4 are arranged in the first area A1 and the second area A2. I am letting.

  The arrangement position of the first pallet 4 is determined by abutting the corner of the pallet against the pallet positioning portion 7 provided on the work floor. Since only one corner of the four corners is abutted against the pallet positioning unit 7, there is a slight variation in the position of the work 3 relative to the first handling robot 1. Further, the first pallet 4 has a variation in size, part size, and the like for each of the pallets 4A to 4H due to variations in assembly accuracy and component accuracy.

  A plurality of identical types of workpieces 3 are arranged on the first pallets 4 at a predetermined interval, and different types of workpieces 3 are arranged on each first pallet 4 depending on the vehicle type or specifications. ing. For example, in the first area A1, the first pallet 4C closest to the second pallet 5A on the carry-in side is the work 3C for the C car, and the first pallet 4A adjacent to the left is for the A car. A work 3D for car D is arranged on the first pallet 4D closest to the work 3A, the second pallet 5C on the carry-out side, and a work 3B for car B is arranged on the left first pallet 4B. Yes.

  In the present embodiment, in order to increase the work transfer work efficiency, the work 3 arranged in the first area A1 and the second area A2 has a large production amount for assembling a vehicle with respect to the other. Arrange the workpiece. In this case, since the workpiece transfer operation is simultaneously performed by the two robots 1 and 2, the workpiece 3 having a large production amount may be arranged in any area.

  The second pallet 5 is a production for sequentially arranging the workpieces 3 taken out from the first pallet 4 by the workpiece taking-out means 11 attached to the wrist portion 10 of the first handling robot 1 and the second handling robot 2. It is a permutation palette. In this second pallet 5, workpieces 3A to 3H taken out in accordance with the vehicle body assembly production order from workpieces 3A to 3H of different types for each of the first pallets 4A to 4H are placed from the back of the pallet to the front side. Arrange them at predetermined intervals. For example, if the vehicle body production order is the order of E car, C car, G car, and A car, the second pallet 5B is for A car, G car, C car, E car from the back of the pallet. The workpieces 3A, 3G, 3C, and 3E are arranged in order, and are arranged so as to be in the order of vehicle body production from the front of the pallet to the back.

  The second pallet 5 (5A to 5C) is provided between the first area A1 and the second area A2, and the first pallet 4A to 4D is provided by the first handling robot 1 provided in the first area A1. The workpieces 3A to 3D taken out from the first pallets 4E to 4H by the second handling robot 2 provided in the second area A2 are arranged. The second pallet 5 is provided at a glass transfer position, a pallet carry-in position above it, and a pallet carry-out position below it, which are positions to be transferred from the first handling robot 1 and the second handling robot 2. It flows from the top to the bottom.

  These second pallets 5 are positioned and fixed on a slide plate 9 that is slidable along a pair of rails 8 laid on the work floor, and the pallet loading position, glass transfer position, and pallet unloading position. It is made to move in order. The position of the second pallet 5 is held by a lock mechanism (not shown) so as not to be displaced at each position. An operator carries an empty pallet to the pallet carry-in position, and a pallet that has been arranged in the assembly production order by the worker is carried to the pallet carry-out position. Pallet rotating means for rotating the second pallet 5 toward the first handling robot 1 or the second handling robot 2 is provided at the glass transfer position.

  The pallet rotating means is provided between the pair of rails 8 below the work floor, and after raising the slide plate 9 on which the second pallet 5 is placed to a position higher than the rails 8, the glass inlet is connected to the first glass inlet. The raising / lowering rotating mechanism unit 100 is configured to rotate toward the handling robot 1 or the second handling robot 2. The elevating / rotating mechanism 100 has a positioning lock mechanism (not shown) so as not to cause a positional shift with respect to the slide plate 9 arranged thereon, and reliably rotates the second pallet 5. Can be done.

  The handling robots 1 and 2 are arranged at positions accessible to the four first pallets 4 arranged in the areas A1 and A2, respectively, and are arranged on the first pallets 4A to 4D in the first area A1. Access and take out the first handling robot 1 that transfers the workpieces 3A to 3D that have been accessed and taken out to the second pallet 5B arranged at the glass transfer position, and the first pallets 4E to 4H in the second area A2. And the second handling robot 2 for transferring the workpieces 3E to 3H to the second pallet 5B.

  Each of the first handling robot 1 and the second handling robot 2 has a workpiece take-out means 11 attached to the wrist portion 10. The workpiece take-out means 11 is composed of a suction holding mechanism section having a plurality of suction pads 12 for sucking and holding the workpiece 3, and the suction pad 12 sucks and holds the surface of the workpiece 3. Further, the workpiece take-out means 11 is movable with respect to the wrist portion 10 in a three-dimensional direction (X direction, Y direction, Z direction) and a θz direction that is a rotation direction around the Z axis.

  The alignment means includes a first camera 13 and a second camera 14 that are imaging means for imaging the holding position of the work 3 held by the work picking means 11, and a laser beam that makes it easy for the cameras 13 and 14 to recognize the shooting location. And the light source 15 that emits LED light, the work holding position imaged by the first camera 13 and the second camera 14, and the normal holding position (appropriate work holding position for placing on the second pallet 5 without misalignment) ) And the amount of deviation is calculated and fed back to the first and second handling robots 1 and 2, and the workpiece holding position is determined as a reference position (second position) of the first and second handling robots 1 and 2. The displacement detection instruction means 1 for instructing the first and second handling robots 1 and 2 so as to coincide with the first and second handling robots 1 and 2 so as to coincide with each other. It is equipped with a door.

  The first camera 13 is attached to the tip of a camera attachment pole 17 that is suspended from the ceiling almost directly above the glass transfer position. The first camera 13 irradiates light from the light source 15 at two positions of the workpiece upper edge (work edge portion) 3a in the vehicle height direction (Z direction), picks up an image of the irradiated portion, and acquires the image data. Is sent to the shift amount detection instruction means 16 and displayed on the monitor. The second camera 14 is attached to the camera mounting pole 17 so as to be in a vehicle front-rear direction (Y direction) and a position facing the workpiece 3. The second camera 14 picks up an image of a portion irradiated to the work upper edge corner 3b from a light source (not shown) attached to the work take-out means 11, and uses the image data as a deviation detection instruction means 16. To display on the monitor. Thus, by irradiating the edge part of the workpiece 3 with light to emit light, it is possible to prevent the problem that it is difficult to recognize the transparent glass by the second camera 14.

  The deviation amount detection instruction means 16 determines the work holding position (actual work holding position held by the work pick-up means 11) and the normal holding position in the Y and θz directions from the image data captured by the first camera 13. The amount of deviation is obtained by comparison (this is the first deviation amount detection operation). Further, the deviation amount detection instructing means 16 compares the workpiece holding position in the X direction and the Z direction with the normal holding position from the image data captured by the second camera 14 to obtain the deviation amount (this is the second amount). This is the displacement detection operation).

  The deviation amount detection instruction means 16 feeds back the deviation amounts obtained from the image data photographed by the first camera 13 and the second camera 14 to the first and second handling robots 1 and 2 to hold the workpiece. The robot is instructed to match the position with the reference position of the first and second handling robots 1 and 2. Upon receiving this instruction, the first and second handling robots 1 and 2 correct the work 3 held by the work take-out means 11 by moving the work 3 according to the amount of deviation, and hold the work 3 in the normal holding position. Let In this deviation amount detection operation, after the first deviation amount detection operation is performed, the second deviation amount detection operation is performed, and the first deviation amount detection operation is further performed, thereby improving the accuracy of deviation amount detection.

  The control unit 6 controls the first handling robot 1, the second handling robot 2, and the elevating and rotating mechanism unit 100 that is a pallet rotating unit. Here, the control unit 6 includes predetermined first pallets 4 </ b> A to 4 </ b> H arranged in the first and second areas A <b> 1 and A <b> 2 that are accessible around the first and second handling robots 1 and 2. The first and second handling robots 1 and 2 are instructed to take out the predetermined workpieces 3A to 3H and transfer them to the second pallet 5.

  As for the operation to command the first and second handling robots 1 and 2, a command corresponding to the assembly production order of the automobile is issued from the control unit 6. For example, an instruction to take out the predetermined workpieces 3A to 3D of the first pallets 4A to 4D in the first area A1 is issued to the first handling robot 1, and the first handling robot 1 performs the take-out operation or the transfer operation. If the workpiece 3 to be transferred next is on the first pallets 4E to 4H in the second area A2, the second handling robot 2 takes out the predetermined workpieces 3E to 3H from the first pallets 4E to 4H. Perform operations simultaneously. In addition, when transferring the workpiece 3 taken out by either the first handling robot 1 or the second handling robot 2 to the second pallet 5, the controller 6 moves the second workpiece toward the robot holding the workpiece 3. Preparations for rotating and transferring the pallet 5 are instructed to the lifting and rotating mechanism unit 100.

  In the workpiece transfer apparatus according to the present embodiment, sensors 20 for notifying that an operator has accidentally entered the first area A1 or the second area A2 are provided at the four corners of the respective areas A1 and A2. Is provided. When an operator or the like enters the first area A1 or the second area A2, the sensor 20 is activated, a siren sounds and an alarm lamp is lit, and the workpiece 3 is moved by the first handling robot 1 and the second handling robot 2. Replacement work is paused. When the transfer work is paused, it does not mean that the entire system stops due to the power down. Moreover, the safety fence 18 is arrange | positioned at 1st area A1 and 2nd area A2, respectively.

  According to the workpiece transfer apparatus of the present embodiment, when either one of the first handling robot 1 or the second handling robot 2 transfers the workpiece 3 to the second pallet 5, Since the operation of rotating the second pallet 5 is performed, the workpiece transfer operation by the two robots 1 and 2 can be performed without loss, and the workpiece can be transferred efficiently.

  Further, according to the workpiece transfer device of the present embodiment, during the operation in which either one of the first handling robot 1 or the second handling robot 2 transfers the predetermined workpiece 3 to the second pallet 5, the other Since the robot performs an operation of taking out the workpiece 3 to be transferred next from the first pallet 4, it is possible to eliminate useless stop time.

  Moreover, according to the workpiece transfer apparatus of the present embodiment, the first pallet 4 is provided with the alignment means for matching the workpiece holding position where the workpiece 3 is held by the workpiece picking means 11 with the reference position of the robot. Are roughly arranged in the first and second areas A1 and A2 and the work holding position can be adjusted to the reference position of the robot even if the work 3 is roughly placed on the first pallet 4. There is no need to increase the placement accuracy of the first pallet 4 in the first and second areas A1 and A2 and the placement accuracy of the work 3 on the first pallet 4.

  Further, according to the workpiece transfer apparatus of the present embodiment, since the image pickup unit is used as the position adjustment unit, it is possible to visually confirm the positional deviation and reduce the apparatus cost.

"Explanation of work transfer method"
Next, a workpiece transfer method that uses the workpiece transfer device configured as described above to take out a predetermined workpiece from the first pallet and transfer it to the second pallet so as to be in the assembly production order. explain. Hereinafter, description will be made with reference to the workpiece transfer flowchart of FIG.

  The work transfer flowchart of FIG. 3 starts when the control unit 6 receives a production instruction. In the flowchart, the work is described as glass. When the Nth workpiece 3 is designated as the workpiece 3 to be transferred to the second pallet 5 in the process of step S1, the control unit 6 determines that the Nth workpiece 3 is the first workpiece 3 in the process of step S2. It is determined whether the handling robot 1 is in the first pallets 4A to 4D in the first area A1 accessible. If there is no N-th workpiece 3 on the first handling robot 1 side, the N-th workpiece is placed on the first pallets 4E to 4H in the second area A2 accessible by the second handling robot 2 in the process of step S3. 3 is determined.

  If the N-th workpiece 3 is present on the first handling robot 1 side (first area A1) in the process of step S2, the control unit 6 drives and controls the lifting and rotating mechanism unit 100 in the process of the next step S4. Then, as shown in FIG. 4, the second pallet 5 is rotated 180 degrees, and the glass insertion port is directed to the first handling robot 1. If the Nth workpiece 3 is present on the second handling robot 2 side (second area A2) but not on the first handling robot 1 side in the process of step S3, the control unit 6 in the process of step S4. Drives and controls the lifting / lowering rotation mechanism 100 to rotate the second pallet 5, and directs the glass inlet to the second handling robot 2.

  In the process of step S3, if the Nth workpiece 3 is not on the pallet on the first handling robot 1 side and the second handling robot 2 side, the control unit 6 determines that there is an abnormality in the process of step S5, This work transfer process is terminated.

  When the process of step S4 is completed, in the next process of step S6, the control unit 6 determines whether or not the work 3 remains on the pallet where the Nth work 3 is present (whether or not the number of remaining work pieces in the pallet is zero). Judging. If the number of workpieces in the pallet is zero, the control unit 6 generates an alarm in the process of step S7, and then prompts the operator to carry the empty pallet out of the first area A1 or the second area A2. Then, in the processing of the next step S8, the worker 101 carries out the pallet that has been emptied out of the first area A1 or the second area A2, and then carries in the pallet on which a new work 3 is placed. Exchange.

  If the work 3 remains on the pallet in step S6, the control unit 6 determines whether or not the transfer of the (N-1) th work 3 to the second pallet 5 has been completed in step S9. (Alignment complete or not) is determined. If the alignment is not completed, the control unit 6 waits for the next operation until the (N-1) th workpiece 3 is transferred to the second pallet 5 in the processing of the next step S10.

  When the transfer of the (N-1) th workpiece 3 to the second pallet 5 is completed in the process of step S9, the workpiece removal process of step S11 is performed. In this workpiece pick-up process, the first handling robot 1 or the second handling robot 2 goes to grip the designated Nth workpiece 3. At this time, since the workpiece 3 is roughly positioned on the first pallet 4, the amount of the workpiece 3 in the Y direction (the deviation in the workpiece thickness direction, which is the vehicle traveling direction) is detected by an ultrasonic sensor or the like attached to the workpiece taking-out means 11. The workpiece 3 is gripped by the workpiece pick-up means 11 after correcting the amount. In this way, by measuring the deviation in the Y direction with an ultrasonic sensor or the like, it is possible to cope with the missing teeth of the work 3 arranged in the first pallet 4.

  When the removal of the Nth workpiece 3 is completed in step S12, in step S13, the control unit 6 instructs a removal request (N + 1 component instruction request) for the next (N + 1) th workpiece 3 to be extracted. The work transfer flowchart is returned to the process of step S2.

  And the control part 6 performs the process of step S14, before the workpiece | work 3 hold | maintained by the workpiece | work pick-up means 11 is transferred to the 2nd pallet 5B arrange | positioned in the transfer position. In the process of step S14, a deviation amount between the holding position of the workpiece 3 held by the workpiece take-out means 11 and a regular predetermined position which is a workpiece holding position for placing on the second pallet 5 is obtained, and the deviation amount is obtained. Accordingly, a visual correction operation for matching the workpiece holding position with the reference position of the first handling robot 1 or the second handling robot 2 is performed.

  Next, the control unit 6 instructs the first handling robot 1 or the second handling robot 2 to perform the process of step S15, and aligns the held work 3 at a predetermined position on the second pallet 5B. Then, the alignment of the workpiece 3 to the second pallet 5B is completed in the process of step S16. The above is the operation processing of the workpiece transfer method using the workpiece transfer apparatus of the present embodiment.

  Although not described in the flowchart of FIG. 3, for example, the first handling robot 1 takes out the workpieces 3A to 3D to be transferred from the first pallets 4A to 4D in the first area A1 and puts them on the second pallet 5. While the transfer operation is being performed, the workpieces 3E to 3H to be transferred next are taken out from the first pallets 4E to 4H in the second area A2 while being simultaneously or slightly delayed, and the second pallet 5 is moved. A process for performing the operation of transferring to is performed. As the workpiece transfer program, the first handling robot 1 and the second handling robot 2 perform the operation of transferring the workpiece 3 to the second pallet 5 alternately. It is desirable to arrange them in two areas A2.

  According to the workpiece transfer method of the present embodiment, the workpiece 3 is transferred from the first pallet 4 to the second pallet 5 by the robots 1 and 2 so that they are in the assembly production order regardless of the operator. The work can be automated, and the work 3 can be efficiently transferred and arranged by the two robots from the first pallet 4 to the second pallet 5 according to the production order of the products. Work cycle time can be greatly reduced.

  In addition, according to the workpiece transfer method of the present embodiment, when either of the two robots 1 and 2 transfers the predetermined workpiece 3 to the second pallet 5, the robot 1 holding the workpiece 3; Since the second pallet 5 is rotated toward 2, the workpiece 3 can be transferred efficiently by the two robots 1 and 2.

  In addition, according to the workpiece transfer method of the present embodiment, while one of the robots 1 and 2 moves the predetermined workpiece 3 to the second pallet 5, Since the operation of taking out the workpiece 3 to be transferred from the first pallet 4 is performed, the workpiece transfer operation by the robot can be continuously performed without stopping.

  In addition, according to the work transfer method of the present embodiment, the work 3 arranged in the first area A1 and the second area A2 in consideration of the work efficiency, one of the vehicles to be attached to the other. The production volume can be large.

  Further, according to the workpiece transfer method of the present embodiment, the workpiece holding position correcting operation for matching the workpiece holding position where the workpiece 3 is held by the workpiece pick-up means 11 with the reference position of the robot is performed, and then the second pallet is moved. Since the work is arranged, it is possible to eliminate the positional shift of the work 3 to the second pallet 5.

  Also, according to the workpiece transfer method of the present embodiment, the holding position of the workpiece 3 held by the workpiece pick-up means 11 is imaged, and the deviation amount of the workpiece holding position with respect to a predetermined position is calculated from the image, and the deviation is calculated. Since the position is determined by correcting the holding position of the work 3 according to the amount, the work 3 can be accurately arranged on the second pallet 5. Further, since the shift amount of the workpiece holding position can be corrected, the operator can set the first pallet 4 without being aware of the setting position where the first pallet 4 is set in the work area 9, and the workpiece 3 is also the first pallet 4. Can be set roughly.

"Work transfer system"
FIG. 5 is a layout diagram illustrating an example of a workpiece transfer system in which the first pallet is increased in each area when the workpiece type (number of specifications) is increased, so as to correspond to the increase in the workpiece type.

  In FIG. 5, the first pallets 4I and 4J on which the workpieces 3I and 3J having the increased number of specifications are arranged are arranged in the first area A1 and the second area A2. The positions at which the first pallets 4I and 4J are arranged are positions that the first handling robot 1 and the second handling robot 2 can access.

  In this way, since five first pallets 4 are arranged in each of the areas A1 and A2, a total of ten first pallets 4 can be arranged in the entire system. Furthermore, when the types of workpieces increase, the first pallet 4 can be increased within a range that the first handling robot 1 and the second handling robot 2 can access.

  FIG. 6 is a layout diagram showing an example of a workpiece transfer system that corresponds to an increase in workpiece type by adding a package when the workpiece type (number of specifications) increases.

  When the types of workpieces 3 increase, the third handling robot 200 and a plurality of units that the third handling robot 200 can access to the third area A3 adjacent to either the first area A1 or the second area A2. A package including the first pallets 4I to 4L and a work temporary placing table 201 arranged between the robots (between the second handling robot 2 and the third handling robot 200) is added to the work transfer device of FIG. . The third handling robot 200 is provided so as to be arranged on the same straight line as the first handling robot 1 and the second handling robot 2, and the temporary work table 201 between the second handling robot 2 and the third handling robot 200 is provided. Place.

  By adding the package 202, for example, a predetermined workpiece 3 (Nth workpiece) taken out from the first pallets 4A to 4D or the first pallets 4E to 4H by the first handling robot 1 or the second handling robot 2 is used. And the (N + 1) th workpiece) are transferred to the second pallet 5, and at the same time, the N + 2th workpiece 3 which is the next workpiece in the assembly production order is added as a package 202. In the case of being on the robot (third handling robot 200) side, the N + 2th workpiece 3 is taken out from the accessible first pallets 4I to 4L around the third handling robot 200, and the workpiece temporary placement table 201 is taken out. To place. Then, the workpiece 3 placed on the workpiece temporary placing table 201 is held by the second handling robot 2 and then transferred to the second pallet 5.

  In FIG. 6, the types of workpieces 3 are 12 in total. However, when the number of specifications of the workpieces 3 is further increased, the package 202 is further added to the workpiece transfer device.

  Thus, according to the workpiece transfer system of the present embodiment, if a robot, a plurality of first pallets accessed by the robot, and a workpiece temporary placement table arranged between the robots are packaged, Even when the number of specifications of the workpiece 3 increases, it is possible to easily cope with the increase in the number of workpiece specifications simply by adding the package 202.

  In addition, according to this work transfer system, each package 202 is classified into a work 3 with a large production amount for assembling a vehicle and a work 3 with a smaller production amount than that, and areas A1 and A2 close to the second pallet 5 If the workpiece 3 having a large production amount is arranged, and the workpiece 3 having a small production amount is gradually arranged as the distance from the second pallet 5 increases, the cycle time of the workpiece transfer operation can be further shortened.

"Other embodiments"
In the above-described embodiment, the imaging unit is used as the alignment unit, the amount of deviation between the workpiece holding position and the normal holding position is calculated, and the amount of deviation is obtained so that the workpiece holding position matches the reference position of the robot. However, the correction operation may be performed by mechanical means without using the imaging means.

  As the positioning means by the mechanical means, the rectangular workpiece 3 held by the workpiece taking-out means 11 is brought into contact with the reference pin to perform positioning in the workpiece depth direction, workpiece width direction, and workpiece vertical direction. The structure of the workpiece take-out means 11 provided with this positioning means will be described below.

  As shown in FIGS. 7 to 9, the workpiece take-out means 11 includes a suction holding mechanism section that sucks and holds the workpiece 3, and a position adjustment mechanism that matches the workpiece holding position in the depth direction of the workpiece 3 with the reference position of the robot. A suction holding position adjusting means 41 provided with a portion, a workpiece presence / absence detecting means 42 for detecting the presence / absence of the work 3 sucked by the suction holding position adjusting means 41, and a width of the work 3 held by the suction holding position adjusting means 41. Work holding position adjusting means 43 that matches the work holding position in the vertical direction and the vertical direction with the reference position of the robot 2 is provided. The suction holding position adjusting means 41 and the work holding position adjusting means 43 correspond to the positioning means of the present embodiment.

  Three suction holding position adjusting means 41 are attached to each of the pair of attachment arm portions 45 provided on the hand frame 44 attached to the wrist portion 10 of the handling robot 1. More specifically, the suction holding position adjusting means 41 is attached to the bracket 46 fixed to each attachment arm portion 45. The suction holding position adjusting unit 41 includes a suction holding mechanism unit 47 that sucks and holds the workpiece 3 and a position adjustment mechanism unit 48 that matches the workpiece holding position of the workpiece 3 in the depth direction with the reference position of the robot.

  As shown in FIG. 10, the suction holding mechanism unit 47 includes a suction pad 49 that sucks and holds the workpiece 3, and a swinging mechanism (not shown) that enables the suction pad 49 to swing following the curved surface of the workpiece 3. And). The suction pad 49 and the swinging mechanism are operated by the introduction and removal of compressed air sent from a pneumatic circuit (not shown). When the compressed air is introduced, the suction pad 49 attracts the work 3. Is not performed and can swing with respect to the workpiece surface. On the other hand, when the compressed air is made negative by the pneumatic circuit, the workpiece 3 is sucked by the suction pad 49 and the swinging operation of the suction pad 49 is stopped and locked.

  The position adjusting mechanism 48 is disposed around the slide shaft 50, which includes a slide shaft 50 that holds the suction holding mechanism 47 at the tip, a lock mechanism that locks the slide position of the slide shaft 50, and the slide shaft 50. Coil spring 52.

  The slide shaft 50 has a suction holding mechanism 47 attached to the front end and a stopper 53 that restricts the most projecting position of the slide shaft 50 to the rear end. In the state where the suction pad 49 is farthest from the work 3, the stopper 53 is located at a position protruding upward from the upper surface of the slide guide 51 as shown in FIG. 10A, and the suction pad 49 is closest (contacted) to the work 3. In this state, the stopper 53 contacts the upper surface of the slide guide 51 as shown in FIG.

  The slide guide 51 is fixed to the flange 46 described above, and guides the slide shaft 50 to be slidable in the vertical direction of FIG. A lock mechanism for locking the slide position of the slide shaft 50 is provided inside the slide guide 51. The lock mechanism is operated by drawing in and out compressed air sent from a pneumatic circuit (not shown). When the compressed air is introduced, the lock mechanism is released and the slide shaft 50 is moved by the coil spring 52. The suction pad 49 shown in FIG. On the other hand, when the compressed air is made negative pressure by the pneumatic circuit, the lock mechanism is activated and the slide position of the slide shaft 50 is locked.

  As shown in FIG. 11, the workpiece presence / absence detection means 42 includes a detection switch 54 for detecting the presence / absence of the workpiece 3, a detection rod 55 for turning on / off the detection switch 54, and indirect detection disposed above the detection rod 55. It consists of a body 56 and a compression spring 57.

  When the workpiece 3 comes into contact with the tip of the detection rod 55, the detection rod 55 is pushed into the detection main body 58, the indirect detection body 56 is raised against the urging force of the compression spring 57, and the detection switch 54 is turned on. When the indirect detection body 56 is urged downward by the compression spring 57, it is separated from the detection switch 54 and turned off. When the detection switch 54 is turned on, it is determined that the workpiece 3 is present, and when it is turned off, it is determined that there is no workpiece 3.

  In the present embodiment, the workpiece presence / absence detecting means 42 is arranged at a diagonal position so that the presence / absence of the workpiece 3 can be detected even when the workpiece 3 is tilted.

  The workpiece holding position adjusting means 43 is composed of an XY table that functions to match the width and vertical workpiece holding positions of the workpiece 3 held by the suction holding position adjusting means 41 with the reference position of the robot. The XY table includes a first table 59 fixed on the hand frame 44, a second table 60 fixed on the wrist portion 10 of the robot, and a workpiece width direction (X direction) on the first table 59. A pair of X-axis guide rails 61 fixed along, a pair of Y-axis guide rails 62 fixed along the workpiece vertical direction (Y direction) on the lower surface of the second table 60, and the X-axis guide rails 61 and Y The linear guide 63 is slidably provided on both of the shaft guide rails 62, and a lock mechanism that locks the XY table in the X and Y directions.

  The lock mechanism allows the first table 59 to slide in the X direction or the Y direction with respect to the second table 60 by introducing and removing compressed air supplied from a pneumatic circuit (not shown). Lock movement impossible. Since the slide of the first table 59 with respect to the second table 60 shares the linear guide 63, the slide cannot be slid in the other direction unless the slide in one direction is locked. Therefore, for example, in order to move the first table 59 in the X direction with respect to the second table 60, the slide in the Y direction is locked, and the first table 59 is moved in the Y direction with respect to the second table 60. On the contrary, it is necessary to carry out after locking the slide in the X direction.

  A rotating means 64 for rotating the workpiece transfer device 11 is provided at the tip of the wrist portion 10 of the robot. The rotating unit 64 functions to change the orientation of the workpiece 3 to 90 degrees when performing the workpiece holding position correction operation of the workpiece 3 sucked by the suction holding position adjusting unit 41.

  The robot including the workpiece transfer device 11 configured as described above operates in response to a command from the control unit 6 and moves the workpiece transfer device 11 attached to the wrist portion 10 according to the command. It has become.

  Next, the operation of transferring the workpiece 3 from the first pallet 4 to the second pallet 5 by the workpiece transfer device in which the workpiece pick-up means 11 having the alignment means by the mechanical means described above is mounted on the robot will be described. To do.

  FIG. 12 is a state diagram showing the workpiece holding position and the reference position of the robot. (A) shows a state where the workpiece holding position and the robot reference position coincide with each other, and (B) shows those positions shifted to the left in the workpiece width direction. FIG. 13 shows an adjustment method for adjusting the position of the work holding position and the robot reference position in the work width direction and the work vertical direction. (A) is a figure which shows the position adjustment of a workpiece | work width direction, (B) is a figure which shows the position adjustment of a workpiece | work vertical direction.

  First, the first handling robot 1 or the second handling robot 2 moves to a desired first pallet 4 in accordance with the assembly production order in response to a command from the control unit 6, and a workpiece take-out means 11 attached to the wrist portion 10. Is moved closer to the workpiece 3 arranged on the first pallet 4.

  When the workpiece take-out means 11 approaches the workpiece 3, the suction pad 49 of the suction holding position adjusting means 41 comes into contact with the workpiece 3 as shown in FIGS. 7 and 8. At this time, in the suction holding position adjusting means 41, the suction holding mechanism portion 47 and the position adjusting mechanism portion 48 are in the unlocked state. It swings following the forward / backward direction. When the suction pad 49 follows the curved surface of the workpiece 3, the suction holding mechanism 47 is locked, and the workpiece 3 is sucked and held by the suction pad 49.

  Thereafter, the workpiece 3 held by the suction pad 49 is lifted above the first pallet 4 and is moved to the reference pin 65 for position adjustment in the workpiece depth direction, which is a reference pin provided above the first pallet 4. Press work 3. When the workpiece 3 is pressed against the reference pin 65 for position adjustment in the workpiece depth direction, the workpiece holding position in the workpiece depth direction matches the reference position of the handling robots 1 and 2 (center position C of the wrist portion 10). When the workpiece holding position matches the reference position of the handling robots 1 and 2, the position adjusting mechanism 48 is locked to fix the workpiece holding position.

  In this manner, the work 3 is sucked and held by the sucking and holding position adjusting means 41. The work holding position where the work 3 is actually sucked and held and the reference position of the handling robots 1 and 2 (the center of the wrist portion 10). The position C) coincides with the position C (FIG. 12A), the work holding position and the reference position of the handling robots 1 and 2 are shifted to the left or right side in the work width direction (FIG. 12B, ( C)). This misalignment is caused by errors in assembly accuracy of the first pallet 4, variations in the size of each first pallet 4, variations in the arrangement of the workpieces 3 disposed on the first pallet 4, and each of the first pallet 4. This is caused by variation in arrangement in the areas A1 and A2.

  Next, it is detected whether or not the detection rod 55 of the workpiece presence / absence detecting means 42 has come into contact with the workpiece 3 and the suction holding position adjusting means 41 has held the workpiece 3. If the detection of the workpiece 3 is not confirmed, since the workpiece 3 cannot be sucked and held, the work of holding the workpiece 3 again is repeated.

  When it is confirmed that the work 3 is sucked and held by the suction holding mechanism 47, the work holding position adjusting means 43 is unlocked in the work width direction (X direction in FIG. 7) (the work vertical direction remains locked). The workpiece take-out means 11 is set in a free state so as to be movable in the workpiece width direction. As a result, the first table 59 is free to move only in the workpiece width direction with respect to the second table 60 fixed to the wrist portion 10.

  Then, both end edges 3c and 3d in the width direction of the workpiece 3 sucked and held by the suction holding position adjusting means 41 are reference pins provided at positions above the first pallet 4 as shown in FIG. The robot moves by the same predetermined amount toward a certain workpiece width longitudinal position adjustment reference pin 66, 67. For example, as shown in FIGS. 12B and 12C, when the workpiece holding position and the reference position of the handling robots 1 and 2 are deviated, two are arranged on both sides of the workpiece 3 in the width direction. Since either one of the workpiece width longitudinal position adjustment reference pins 66 and 67 comes into contact, the first table 59 slides relative to the second table 60 in the workpiece width direction to hold the workpiece. The position matches the reference position of the handling robots 1 and 2.

  Next, after rotating the direction of the work 3 by 90 degrees by the rotating means 64, this time, the work holding position adjusting means 43 is unlocked in the work vertical direction (Y direction in FIG. 7) (the work width direction is locked). The workpiece take-out means 11 is set in a free state so as to be movable in the workpiece vertical direction. As a result, the first table 59 is in a free state in which it can move only in the workpiece vertical direction with respect to the second table 60 fixed to the wrist portion 10.

  Then, both end edges 3c, 3d in the vertical direction of the work 3 sucked and held by the suction holding position adjusting means 41 are provided in the vertical position of the work width provided at the upper position of the first pallet 4, as shown in FIG. The robot moves by the same predetermined amount toward the direction position adjustment reference pins 66 and 67. When both end edges 3c, 3d of the workpiece 3 are brought into contact with the workpiece width longitudinal position adjusting reference pins 66, 67 one by one, the first table 59 slides relative to the second table 60 in the workpiece longitudinal direction. Thus, the workpiece holding position matches the reference position of the handling robots 1 and 2.

  When the workpiece holding position in the workpiece width direction and workpiece vertical direction matches the reference position of the handling robots 1 and 2, the workpiece holding position adjusting means 43 is locked and the workpiece width of the first table 59 with respect to the second table 60. Stop the slide movement in the direction and workpiece vertical direction. As a result, the positions of the workpiece holding positions and the reference positions of the handling robots 1 and 2 in the workpiece depth direction, the workpiece width direction, and the workpiece vertical direction are corrected before being transferred to the second pallet 5. This completes the workpiece holding position correcting operation.

  Next, when the workpiece 3 is positioned at a normal position, the workpiece 3 is transferred to the second pallet 5 by the handling robots 1 and 2. When the work 3 is placed at a predetermined position on the second pallet 5, the suction by the suction pad 49 is released and the work 3 is placed on the second pallet 5.

  As described above, according to the present embodiment, since the workpiece holding position is made to match the reference position of the robot using the alignment means by the mechanical means, correction according to the mechanical accuracy is performed. And the cost of the apparatus can be reduced.

  Further, according to the present embodiment, since the workpiece position correction operation performs positioning in the workpiece depth direction, workpiece width direction, and workpiece vertical direction, accurate position correction can be performed, and the second pallet The workpieces 3 can be aligned without any variation.

  Although specific embodiments to which the present invention is applied have been described above, the above-described embodiments are examples of the present invention, and the present invention is not limited to these embodiments.

  As described above, the reference pins 65, 66, and 67 are not limited to the example in which the reference pins 65, 66, and 67 are respectively provided above the first pallet 4. Positioning may be performed immediately before the input.

  In the present embodiment, glass has been described as an example of the work 3, but a panel or a trim part that is an assembly part other than glass can be applied to the work that is a transfer target of the present invention.

It is a layout figure which shows an example of a workpiece transfer apparatus. FIG. 6 is a perspective view showing a positioning means for performing a correction operation for matching a workpiece holding position with a reference position of a robot before a workpiece is taken out from the first pallet by the workpiece picking means and transferred to the second pallet. It is a workpiece transfer flowchart of the present embodiment. It is a layout diagram showing an example of a workpiece transfer system to which a package is added when the number of workpieces increases. It is a layout diagram showing an example of a workpiece transfer system that corresponds to an increase in workpiece type by increasing the first pallet in each area when the workpiece type (number of specifications) increases. It is a layout diagram showing an example of a workpiece transfer system that corresponds to an increase in workpiece type by adding a package when the workpiece type (number of specifications) increases. It is a top view of a workpiece taking-out means. It is a front view of a workpiece taking-out means. It is a side view of a workpiece taking-out means. It is an enlarged view of a suction holding position adjusting means. It is an enlarged view of a workpiece presence / absence detection means. It is a state diagram showing a workpiece holding position and a reference position of the robot, (A) is a state where the workpiece holding position and the robot reference position coincide, (B) is a state where those positions are shifted to the left in the workpiece width direction, (C) shows a state in which these positions are shifted to the right in the workpiece width direction. The adjustment method which adjusts the position of the workpiece holding position and the robot reference position in the workpiece width direction and workpiece vertical direction is shown, (A) shows the position adjustment in the workpiece width direction, and (B) shows the position adjustment in the workpiece vertical direction. It is.

Explanation of symbols

1 ... 1st handling robot (1st robot)
2 ... Second handling robot (second robot)
3 ... Work (3A-3L)
4 (4A-4L) ... 1st pallet 5 (5A-5C) ... 2nd pallet 6 ... Control part 8 ... Rail 10 ... Wrist part of robot 11 ... Work picking means 12, 49 ... Suction pad 13 ... 1st Camera (imaging means)
14 ... Second camera (imaging means)
DESCRIPTION OF SYMBOLS 15 ... Light source 16 ... Deviation amount detection instruction means 41 ... Adsorption holding position adjustment means 42 ... Work presence / absence detection means 43 ... Work holding position adjustment means 44 ... Hand frame 47 ... Adsorption holding mechanism part (holding mechanism part)
48 ... Position adjustment mechanism 59 ... First table 60 ... Second table 66, 67 ... Work width longitudinal position adjustment reference pin (reference pin)
65 ... Reference pin (reference pin) for position adjustment in the workpiece depth direction
100: Elevating and rotating mechanism (pallet rotating means)
200 ... Third handling robot 201 ... Temporary work table 202 ... Package

Claims (15)

In the assembly process for attaching different types of workpieces for different types of products, workpiece removal means are attached from a plurality of first pallets in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet. A workpiece transfer method in which the workpiece is transferred to a second pallet and arranged so as to be in the production order of the products after a predetermined workpiece is taken out by the robot.
A first robot capable of accessing a plurality of first pallets arranged so as to surround the first robot fixed to the first area, and a first robot on the opposite side of the first area with the second pallet interposed therebetween By a second robot that can access a plurality of first pallets arranged so as to surround a second robot fixed in two areas, a predetermined first arranged in each area according to the production order of the products. The first and second robots take out a workpiece from one pallet, and the second robot has moved from the second pallet loading position to the workpiece transfer position between the first area and the second area . A method of transferring a workpiece, wherein when the workpiece is transferred to a pallet, the second pallet is rotated with a workpiece insertion port directed toward any robot holding the workpiece. The workpiece transfer method according to claim 1 ,
While either the first robot or the second robot moves the predetermined workpiece to the second pallet, the other robot moves the workpiece to be transferred next from the first pallet. A method for transferring workpieces, characterized in that it is performed. It is the workpiece transfer method according to claim 1 or 2 ,
The workpiece transfer method, wherein the workpieces arranged in the first area and the second area have a large production amount of products attached to one of the workpieces. A workpiece transfer method according to any one of claims 1 to 3 , wherein
A workpiece transfer method comprising: performing a workpiece holding position correcting operation for matching a workpiece holding position at which the workpiece is held by the workpiece take-out means with a reference position of the robot, and then placing the workpiece on the second pallet. . The workpiece transfer method according to claim 4 ,
The workpiece holding position correcting operation images the holding position of the workpiece held by the workpiece take-out means, calculates a deviation amount of the workpiece holding position with respect to a predetermined position from the captured image, and the workpiece according to the deviation amount. A workpiece transfer method characterized by correcting the holding position and positioning. The workpiece transfer method according to claim 5 ,
The workpiece transfer method, wherein the workpiece is a transparent body, and light is emitted to the edge portion of the workpiece to emit light, and the light emitting portion is imaged by the imaging means. The workpiece transfer method according to claim 4 ,
The workpiece has a rectangular shape, and the workpiece holding position correction operation performs positioning in the workpiece depth direction, workpiece width direction, and workpiece vertical direction by bringing a reference pin into contact with the workpiece held by the workpiece take-out means. A workpiece transfer method characterized by this. In the assembly process of attaching different types of workpieces for different types of products, the production order of the products from a plurality of first pallets in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet A workpiece transfer device that transfers the workpiece to a second pallet that arranges the workpieces so that
A plurality of first pallets arranged in the first area;
A first robot fixed to the first area so as to be surrounded by the first pallet of the first area and capable of accessing the first pallet and the second pallet of the first area;
A plurality of first pallets arranged in the second area;
A second robot fixed to the second area so as to be surrounded by the first pallet of the second area and capable of accessing the first pallet and the second pallet of the second area;
The workpiece is moved from the second pallet loading position to the workpiece transfer position between the first area and the second area, and the workpiece inlet is directed to the first robot and the second robot arranged in each area. a second pallet that will be freely rotatable,
An operation in which the first robot and the second robot transfer a workpiece from the first pallet to the second pallet, and when any of the robots transfers a workpiece to the second pallet, And a control unit for performing an operation of rotating the second pallet toward the workpiece. The workpiece transfer device according to claim 8 , wherein
The controller is configured to move a first workpiece to be transferred by the other robot during the operation in which either the first robot or the second robot transfers a predetermined workpiece to the second pallet. A workpiece transfer device characterized in that it performs the operation of removing it from the pallet. The workpiece transfer device according to claim 8 or 9 , wherein
A workpiece transfer apparatus, comprising: a positioning means for matching a workpiece holding position where the workpiece is held by the workpiece picking means with a reference position of the robot. The workpiece transfer device according to claim 10 ,
The alignment means calculates an amount of deviation between an imaging means for imaging the holding position of the workpiece held by the workpiece picking means, and a holding position of the workpiece imaged by the imaging means and a normal holding position, and calculates the deviation amount. A workpiece transfer apparatus comprising: a deviation amount detection instructing unit that obtains and feeds back to the robot to instruct the robot to match the workpiece holding position with the reference position. The workpiece transfer device according to claim 11 ,
The workpiece transfer device, wherein the workpiece is a transparent body, and includes an irradiation unit that emits light by irradiating an edge of the workpiece with light, and the imaging unit images the light emitting unit. The workpiece transfer device according to claim 10 ,
The workpiece has a rectangular shape, and the positioning means performs positioning in the workpiece depth direction, workpiece width direction, and workpiece vertical direction by bringing the workpiece held by the workpiece removal means into contact with a reference pin, A workpiece transfer device characterized in that a workpiece holding position is matched with a reference position of the robot. In the assembly process of attaching different types of workpieces for different types of products, the production order of the products from a plurality of first pallets in which a plurality of the same types of workpieces are arranged and different types of workpieces are arranged for each pallet A workpiece transfer system for transferring the workpiece to a second pallet that arranges the workpieces so that
A first robot capable of accessing the first pallet and a second pallet which is more disposed to the first to be fixed to the first area and the first area as surrounded by the pallet of the first area the first pallet and a second robot that can access a second pallet which is more disposed to be fixed to the second area and the second area as surrounded by the first pallet of the second area And the second pallet loading position is moved from the second pallet loading position to the workpiece transfer position between the first area and the second area, and the workpiece insertion port is directed to the first robot or the second robot arranged in each area. and a second pallet that will be freely rotatable,
When the types of the workpieces increase, a plurality of first pallets arranged in a third area adjacent to either the first area or the second area, a workpiece temporary placement table, and the workpiece temporary placement table Add a package consisting of a third robot that can access the first pallet in the third area,
Along with the workpiece transfer operation of the first and second robots, the third workpiece is taken out from the first pallet in the third area and placed on the workpiece temporary placement table by the third robot in the assembly production order. Work transfer system characterized by that. The workpiece transfer system according to claim 14 ,
When the number of types of the workpieces further increases, the workpiece transfer system is characterized in that the package is further added.

Images