JPH07172584A - Carrying facility construction - Google Patents

Abstract

PURPOSE:To provide a carrying facility construction in which maintenance or repair of devices or equipment constituting the carrying facility can be facilitated and the degree of freedom of design for a work carrying passage and a pallet moving passage can be improved. CONSTITUTION:Pallets P are moved in general along a nearly U-shaped pallet moving course at a work transfer station WA. The upper stream end of a first work carrying out device T1 is extended into the corner part territory of the work transfer station WA, and adjoint to a work and pallet transfer territory. The first work carrying out device T1 is oriented meeting at a prescribed angle theta with the center axis in the lengthwise direction (X-direction) of the work transfer station WA, and extended toward a working station. Between the work transfer station WA and the first work carrying out device T1, a triangular maintenance territory D converging toward the upper stream end of the first work carrying out device T1 is formed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer facility structure, and more particularly, to a pallet moving path for moving a work transfer pallet and a work transferring path extending linearly along the work transferring path. The present invention relates to a transfer facility structure for sequentially transferring the work stacked on the pallet from the pallet to the work transfer path.

[0002]

2. Description of the Related Art In the production and assembly of machines or devices (for example, automobiles or vehicles), a predetermined work (for example, a cylinder block, a transmission case, etc.) is automatically conveyed to a predetermined production line (for example, a conveyor). ), The work transfer device or the work transfer robot is put into practical use. In general, such a work transfer device grips or holds each work and transfers it to a predetermined position, then releases the work and automatically supplies the work to a work transfer path (for example, JP-A-2-180573).
JP, JP 61-55016, JP 3-9
5025, etc.). In addition, those having a transport facility structure of transporting a work by a transport pallet, such as a vehicle engine or transmission manufacturing facility, are in practical use. This type of transport facility is generally
A pallet movement path for moving the work transfer pallet,
The work transfer path includes a work transfer path that extends linearly along the work transfer path, and a work transfer station that sequentially transfers the work stacked on the pallet from the pallet to the work transfer path. A transfer area, a pallet unloading area such as an empty pallet storage area, and a work transfer device for transferring a work are provided.

However, the position of the pallet or the position and orientation of the work on the pallet is not always constant. Therefore, in this type of work transfer station, the position / orientation of the work to be transferred is detected, It is necessary to properly position the work transfer device on the work. For this reason, preferably, the work transfer device is provided with a work position detecting means for detecting the position and the posture of the work to be transferred. As such a work position detecting means, for example, an image processing camera for photographing a work to be transferred,
A configuration having an image processing unit that detects (calculates) the position and orientation of a work by processing (analyzing) an image captured by an image processing camera has been proposed. This kind of work position detecting means is preferably
An image or screen taken by an image processing camera is divided into a large number of areas (hereinafter referred to as pixels), and in the pixels,
A value that is brighter than a predetermined threshold value is set to, for example, a numerical value of 1, and a value that is darker than the threshold value is set to, for example, a numerical value of 0. Binarization processing is performed, and the position / orientation of the work is detected (calculated) based on the pattern of the indicated value of each pixel.

[0004]

However, in the conventional transfer facility structure, the work and pallet carry-in path to the work and pallet transfer area and the pallet carry-out path for carrying out the empty pallet from the pallet carry-out area are connected in series. The work-in path and the carry-out path are arranged adjacent to the work transfer path and in parallel with the work transfer path. Therefore, the device or equipment constituting the work transfer device and the conveyor device or the like constituting the work transfer path are close to each other, and a sufficient space or area for maintenance or repair of these devices or equipment is secured. It's hard to do. Moreover, since the arrangement of the work transfer path and the pallet movement path is generally limited to the serially arranged arrangement, the degree of freedom in designing the work transfer path and the pallet movement path is extremely limited. The present invention has been made in view of the above points, and an object of the present invention is to facilitate maintenance and repair of a device or equipment that constitutes a transfer facility, and to provide a work transfer path and a pallet transfer path. An object of the present invention is to provide a transport facility structure capable of improving the degree of freedom in design.

[0005]

In order to achieve the above object, the present invention has a pallet moving path for moving a work transferring pallet and a work transfer path linearly extending along the work transfer path. In the transfer facility structure for sequentially transferring the work loaded on the pallet from the pallet to the work transfer path, the pallet transfer path is provided between the pallet loading and unloading path and the loading and unloading path. Pallet transfer path, the loading path and the unloading path are laterally spaced and substantially oriented in opposite directions, and the pallet loading path is configured to move the pallet of the loading path to the side. In order to move and transfer to the carry-out path, the transfer path, the transfer path, and the carry-out path are arranged between the carry-in path and the carry-out path, and form a substantially U-shaped pallet moving path. The work conveying path provides a transport facility structure, characterized in that said carrying path and the transfer path is disposed adjacent to the corner area of the pallet moving path intersecting. According to the above configuration of the present invention, the pallet movement path is formed in a U shape as a whole, and the work transfer path is
It is located adjacent to the corner area of the pallet travel path. Therefore, the work can be easily and smoothly transferred to the work transfer path. Moreover, according to the above configuration, the area in which the pallet movement path and the work transfer path extend in parallel is reduced, and a sufficient maintenance area for maintaining or repairing the devices or equipment that make up the transfer facility is secured. it can. Further, since the work transfer path and the pallet movement path having the above-described configurations can be relatively displaced so as to form an arbitrary angle with each other, the degree of freedom in designing the work transfer path and the pallet movement path can be improved.

In order to achieve the above object, the present invention also provides
A pallet movement path for moving the work transfer pallet,
In a transfer facility structure that has a work transfer path that extends linearly along a work transfer path and sequentially transfers the work loaded on a pallet from the pallet to the work transfer path, the pallet transfer path is a pallet. And a unloading route, and a work transfer station for sequentially transferring the work placed on the pallet to the work transfer path, and the work transfer station loads the pallet loaded with the work. A work and pallet transfer area for receiving and a pallet carry-out area for carrying out an empty pallet are included, and a work and pallet carry-in path to the work and pallet transfer area and a vacant pallet carry-out area from the pallet carry-out area A pallet unloading path and a pallet discharge path are arranged laterally offset to provide a transfer facility structure. According to the above configuration of the present invention, the work can be smoothly transferred to the work transfer path at the work transfer station. Moreover, according to the above configuration, the pallet carry-in path located upstream of the work transfer station and the pallet carry-out path located downstream of the work transfer station are arranged laterally offset, The unloading path and the unloading path are arranged at positions displaced from each other at the work transfer station. Therefore, the area in which the pallet movement path and the work transfer path extend in parallel can be reduced, and a sufficient maintenance area for maintaining or repairing the devices or equipment constituting the transfer facility can be secured. Further, the work transfer path and the pallet movement path having the above-described configurations can be relatively displaced so as to form an arbitrary angle with each other, and therefore, the degree of freedom in designing the work transfer path and the pallet movement path can be improved. .

In a preferred embodiment of the present invention, the work transfer station comprises a pallet transfer device for transferring an empty pallet from the work and pallet transfer area to the pallet unloading area. In another preferred embodiment of the present invention, the work transfer station is
There is provided a work transfer device for transferring the work placed on the pallet to the work transfer path. According to a further preferred aspect of the present invention, a pallet transfer path between the pallet carry-in path and the pallet carry-out path is oriented at a predetermined angle with respect to the work transfer path. In one embodiment of the present invention, the pallet transfer device and the work transfer device are movably supported by a common support member. Preferably, when all the pallets in the work and pallet transfer area are moved to the pallet unloading area, the work and pallet are automatically supplied to the work and pallet transfer area, and a predetermined number of empty pallets are unloading the pallet. When placed in the area, the empty pallets are unloaded along the unloading path.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A transport facility structure according to an embodiment of the present invention will be described in detail below. FIG. 1 is a layout diagram showing a schematic overall layout of an engine manufacturing facility. As shown in FIG. 1, the engine manufacturing facility has a work transfer station WA at the upstream end of a series of production lines. The work transfer station WA has a plurality of pallets P stacked on top of each other and on each pallet P. Work W (hereinafter referred to as pallet and work P.W.) is a transfer facility V such as a forklift.
Supplied by In this example, the work W is a cylinder block of a vehicle engine cast in a foundry. The work transfer station WA is equipped with an automatic control panel CU capable of manually setting the operating conditions of the apparatus.
The pallet and the work P.S supplied to the work transfer station WA. W. Are transferred to the vicinity of the upstream end of the first work transfer device T1 (see arrow A). The work transfer station WA sequentially transfers each work W on the pallet P to the first work transfer device T1. On the other hand, the empty pallet P that has supplied all the workpieces W is the workpiece transfer station W.
It is carried out from A (see arrows C and B).

A plurality of processing stations M1 to M3 for executing a predetermined cylinder block processing step such as a milling step are arranged along the work transfer device T1. The work W that has passed through the processing station M3 is an automatic guided vehicle AG.
V is transferred to the second transfer device T2, and the second transfer device T2
Processing stations M4, M5 arranged along
Be delivered to. The processing stations M4 and M5 are, for example, honing machines that perform honing processing on cylinder bores.
It includes a station and a sub-assembly station for assembling engine parts such as a plug to the work W. The work W that has passed through the processing station M5 is transiently accommodated in the intermediate finished product station WB. The required number of works W are supplied from the intermediate finished product station WB to the processing station M6 at a required time by the automated guided vehicle AGV and the third transport device T3. The processing station M6 is, for example, a final assembly station, and the work W that has passed through the processing station M6 is accommodated in the finished product station WC as a finished product. Figure 2
FIG. 3 is a perspective view of the work transfer station WA shown in FIG. 1, and FIGS. 3, 4 and 5 are a horizontal sectional view, a plan view and a vertical sectional view of the work transfer station WA shown in FIG.

As shown in FIGS. 2 and 3, the pallet and the work P. W. Is the lowermost base pallet P1 and a plurality of intermediate pallets P located above the base pallet P1.
Including 2. The intermediate pallet P2 is stacked in multiple layers on the base pallet P1. A plurality of works W are stacked on each of the intermediate pallets P2 and the base pallet P1, and the works W are stacked in multiple stages via the pallets P1. Pallet and work P. W. Are carried in a predetermined area in the work transfer station WA, that is, a work and pallet transfer area in the direction of arrow A. The work transfer station WA holds the work W placed on each upper surface of the intermediate pallet P2 and the base pallet P1 by the work transfer device, and automatically transfers the first work transfer device T1.
Of the intermediate pallet P2 and the base pallet P1 are emptied by the pallet transfer device and automatically transferred onto the carriage 5 (see arrow C). The dolly 5 is arranged in the pallet unloading area of the work transfer station WA. When all the works W and pallets P in the work and pallet transfer area are transferred to the first work transfer device T1 or the carriage 5, a stack of pallets P loaded with new work W is supplied to the work and pallet transfer area. To be done. Intermediate pallet P2 and base pallet P on the dolly 5
When 1 reaches a predetermined number, the dolly 5 is moved in the arrow direction B and is unloaded from the work transfer station WA together with the pallets P1 and P2.

As shown by arrows A and B in FIG.
The carry-in and carry-out paths of P1 and P2 are substantially parallel and oriented in opposite directions, and the transfer path of the empty pallets P1 and P2 to the carriage 5 is the pallet P1, as shown by an arrow C in FIG.
It is oriented substantially at right angles to the input and output paths of P2. Therefore, the loading and unloading paths (arrows A and B) of the pallets P1 and P2 are the work transfer stations W.
The transfer paths (arrows C) of the pallets P1 and P2 are oriented parallel to the central axis extending in the width direction of A (Y direction) and opposite to each other, and extend in the longitudinal direction (X direction) of the work transfer station WA. Oriented parallel to the central axis. Thus, the pallets P1 and P2 are moved along the generally U-shaped pallet movement path at the work transfer station WA. The first work transfer device T1 is composed of a plurality of chain conveyors. The upstream end of the first work unloading device T1 extends into the corner area of the work transfer station WA and is adjacent to the work and pallet transfer area. The first work unloading device T1 is a work transfer station WA.
Is oriented at a predetermined angle θ, for example, an angle of 45 degrees, with respect to the central axis of the longitudinal direction (X direction) of, and extends from the work transfer station WA toward the processing station M1. A triangular maintenance area D that converges toward the upstream end of the first work unloading apparatus T1 is formed between the work transfer station WA and the first work unloading apparatus T1. Due to D, the work transfer station WA and the first work unloading device T1 can be easily approached, and the work transfer station WA and the first work unloading device T1 can be repaired or maintained.

The frame of the work transfer station WA includes a plurality of vertical columns 6, beams 8a and 8b in the longitudinal direction (X direction) and beams 7a and 7b in the width direction (Y direction) supported by the columns 6. It is composed of The column 6 and the beams 7a, 7b, 8a, and 8b are work transfer stations W.
Configure the A frame. As shown in FIGS. 4 and 5,
Guide rails 9a and 9b extending along the beams 8a and 8b are fixed to the upper surfaces of the beams 8a and 8b in the X direction, respectively. A movable beam 10 oriented in the Y direction is arranged so as to bridge the beams 8a and 8b, and each end of the movable beam 10 is supported by guide rails 9a and 9b so as to be reciprocally movable in the X direction. The movable beam 10 is locked to chains 12a and 12b extending along the beams 8a and 8b, and
2b is a movable beam driving device 11 attached to the beam 8a.
Operably connected to. The left and right chains 12a are controlled by operating the motors that form the movable beam drive device 11,
12b synchronously travels in either the forward rotation direction or the reverse rotation direction, and reciprocates the movable beam 10 in parallel. A pallet arm 13 extending in the vertical direction is attached to one side surface of the movable beam 10 via a connecting portion 13a. At the lower end of the pallet arm 13, a pallet clamp device 1 for holding the intermediate pallet P2 or the base pallet P1.
9 is attached, and in the middle part of the pallet arm 13,
A pallet arm lifting device 17 for lifting the pallet arm 13 is provided. The pallet arm 13 and the pallet clamp device 19 constitute a pallet transfer device.

On the other side surface of the movable beam 10, a rotatable work arm 14 extending in the vertical direction is connected.
Mounted via. The work arm 14 is attached so as to be movable along the movable beam 10. A power transmission member 16 for reciprocating the work arm 14 in the Y direction is arranged along the movable beam 10, and a work arm driving device 15 operatively connected to the power transmission member 16 is attached to an end portion of the movable frame 10. . 6 is a side view of the pallet transfer device and the work transfer device, and FIG. 7 is an enlarged side view of the work clamp device 20 shown in FIG. Also,
FIG. 8 is an enlarged front view and a partially enlarged side view of the work clamp device 20, and FIG. 9 is an enlarged cross-sectional view showing a ball joint structure provided in the work clamp device 20. As shown in FIG. 6, the pallet arm 13 includes a slide member 13b extending in the vertical direction.
b is supported by a linear slide bearing 13c so as to be vertically movable. Linear slide bearing 13
c is connected to the connecting portion 13 a, and the connecting portion 13 a is fixed to the side surface of the movable beam 10. Further, the pallet arm lifting device 17 is arranged in the connecting portion 13a.

The work arm 14 includes a slide member 14b extending in the vertical direction, and the slide member 14b is supported by a linear slide bearing 14c so as to be vertically movable. The linear slide bearing 14c is supported by the connecting portion 14a, and the connecting portion 14a is supported by the movable beam 10 via the linear slide bearing 14d. Thus, the work arm 14 is attached to the movable beam 10 so as to be movable and movable up and down. Work arm 1
A work clamp device 20 that holds the work W is disposed at the lower end of the work piece 4. A work arm elevating device 18 for elevating and lowering the work arm 14 is arranged at an intermediate portion of the work arm 14, and an image processing camera 22 for detecting the work W and the pallet P is attached. At the upper end of the work arm 14, the work arm 1
A work arm turning drive device 21 for rotating the work piece 4 around its axis and a fluid cylinder device 24 for locking the work clamp device 20 are provided. The work arm 14 and the work clamp device 20 constitute a work transfer device. As shown in FIGS. 7 and 8A and 8B,
The work clamp device 20 includes a connecting member 31 fixed to the lower end portion of the work arm 14 and a clamp body 32 arranged below the connecting member 31, and the connecting member 31 and the clamp body 32 are formed by a ball joint 33. And the coil spring 34. Clamp body 32
Is provided with a contact member 36 that can contact the upper surface of the work W (cylinder block), and a clamp arm 38 that is opened and closed by a fluid-operated cylinder device 37. A proximity switch 35 is attached to detect the approach of the clamp body 32 to the. When the work clamp member 20 grips the work W, the contact member 36 contacts the upper surface of the work W and stabilizes the grip position. Further, the clamp arm 38 engages with a predetermined portion of the work W to reliably grip the work W. The left half of FIG. 7 shows the unclamp position of the clamp body 32 separated from the work W, and the right half of FIG. 7 shows the clamp position of the clamp body 32 that grips the work W.

As shown in the enlarged view of FIG. 9, the ball joint 33 is swingably supported by the upper ball receiving portion 33a and the upper link ball 33b and the lower ball receiving portion 33c. It has a lower link ball 33d, upper and lower shaft portions 33f and 33g extending to the upper and lower link balls 33b and 33d, respectively, and a cylindrical member 33e interconnecting the upper and lower shaft portions 33f and 33g. The upper ball receiving portion 33a is fixed to the connecting member 31, and the lower ball receiving portion 33c is fixed to the clamp body 32. The ball joint 33 constitutes a so-called universal joint type joint between the connecting member 31 and the clamp main body 32, and connects the connecting member 31 (work arm 14) and the clamp main body 32 so as to be relatively displaceable in the horizontal direction. In this way, since the connecting member 31 and the clamp body 32 are connected to each other via the ball joint 33 and the coil spring 34 so as to be relatively displaceable, the clamp body 32 is suspended from the work arm 14 so as to be horizontally displaceable. It The state where the clamp body 32 is relatively displaced in the horizontal direction is shown in FIG. 8B for reference. Thus, when the workpiece W to be transferred is inclined, the clamp body 32 is displaced in the horizontal direction when the workpiece W is gripped, and the clamp arm 38 causes the workpiece W to move.
Can be reliably gripped. On the other hand, while the work clamp member 20 moves while holding the work W, the insertion member 39 (FIG. 8A) hanging from the connecting member 31 (work arm 14) is received by the receiving portion 40 of the clamp body 32.
And the work arm 14 and the clamp body 32 are integrally connected. Therefore, the connecting member 31 (work arm 14) and the clamp body 32 are locked during the transfer of the work W, so that the clamp body 32 is prevented from swaying or relative displacement.

The work transfer station WA is further provided with a control device S for detecting the position / posture of the work W to be transferred and controlling the gripping and transfer operation of the work W and the pallet P by each drive device. The control unit S is an automatic control panel CU.
(Fig. 1). Hereinafter, the control device S of the work transfer station WA will be described. FIG. 10 is an overall configuration diagram showing the control device S of the work transfer station WA. As shown in FIG. 10, the work transfer station W
The control device S of A includes a first control unit 51 including a host link unit, a basic unit, an A / D conversion unit, and a plurality of I / O units, and a second control unit including a sequencer and a positioning unit. And 52 are provided. The upper link unit of the first control unit 51 is the first control unit 51 and the second control unit 5
2 are connected so that they can communicate with each other. Various output signals of the touch panel 41 operated by the operator are input to the upper link unit. The image captured by the image processing camera 22 (hereinafter referred to as the camera 22) is processed by the camera amplifier 47 and the image processing device 48, and the processed information is input to the basic unit of the first control unit 51. The image processing device 48 binarizes each pixel of the multi-valued image of the work W photographed by the camera 22 based on a predetermined threshold value, and from the binarized image obtained by this binarization process, The position / orientation of the work W is detected (calculated). The processing result of the image processing device 48 is displayed on the CRT 49.

The distance sensor 42 is connected to the A / D conversion unit of the first control unit 51, and the detection result of the distance sensor 42, that is, the distance between the pallet clamp device 19 and the pallet P, or the work clamp. The distance between the device 20 and the work W is input via the sensor amplifier 50. Further, each I / O unit of the first control unit 51 is connected with a control means such as a valve 43, a limit switch 44, a push button 45, a lamp 46, a detection means or a display means. The sequencer of the second control unit 52 mainly includes a movable beam driving device 11, a work arm driving device 15, a pallet arm lifting device 17, a work arm lifting device 18, a swing driving device 21, a pallet clamping device 19, a work clamping device 20, and the like. Control the operating sequence of. In addition, the positioning unit of the second control unit 52 uses the first to fifth amplifiers 53 to 57 for the first control unit.
The fifth motors 58 to 62 are driven to perform positioning control of the pallet arm 13 and the work arm 14. The first motor 58 is a drive source of the movable beam drive device 11, and the second motor 59 is a work arm drive device 15.
, A third motor 60 is a drive source for the work arm lifting device 18, a fourth motor 61 is a drive source for the swing driving device 21, and a fifth motor 62 is a driving source for the pallet arm lifting device 17. It is a driving source. That is, the first motor 58 controls the X of the pallet arm 13 and the work arm 14.
The second motor 59,
The work arm 14 moves or positions in the Y direction, the third motor 60 moves or positions the work arm 14 in the vertical direction, and the fourth motor 61 rotates the work arm 14 about the rotation axis. Or the rotation angle is set, and the fifth motor 62 sets the pallet arm 1
3 is moved or positioned in the vertical direction. Thus,
First to fifth motors 58 to 6 by the positioning unit
By the control of 2, the pallet arm 13 (pallet clamp device 19) and the work arm 14 (work clamp device 20) can be moved to a desired position and positioned.

11 and 12 are flowcharts showing the main routine of the entire control executed by the control device S. FIG. 13 is a flowchart showing a subroutine (image processing routine) of the main routine shown in FIGS. 11 and 12, and the subroutine of FIG. 13 is for executing step ST12 of the main routine.
Hereinafter, the control method of the work transfer station WA by the control device S will be described with reference to FIGS. 1 to 10 as appropriate in accordance with the flowcharts shown in FIGS. 11 to 13.
In the main routine (FIG. 11), the control device S reads the stage change instruction and determines the presence or absence of the stage change instruction (steps ST1, 2). When there is a change instruction, the control device S
Replaces the currently mounted work clamp device 20 with a work clamp device 20 suitable for the work W after the stage change, or adjusts the work clamp device 20 so as to correspond to the work W after the stage change. Yes (step ST3).
The control device S further changes the position setting, the threshold value, and the feature amount of the work clamp device 20 according to the work after the stage change (step ST4).

Next, in step ST5 to step ST6, the controller S judges whether the next cycle operation is to be performed, that is, whether the transfer operation of the work W should be executed as the next cycle operation.
Alternatively, it is determined whether the transfer operation of the pallet P should be executed, and based on the determination result, the work transfer routine of steps ST10 to ST19 or step ST20.
Any one of the pallet transfer routines of step ST27 is selectively executed. When determining that the transfer operation of the work W should be executed as the next cycle operation, the control device S drives the first and second motors 58 and 59 in step ST10 as shown in FIG. The movable beam 10 is moved in the X direction by a predetermined distance, and the work arm 14 is moved.
Is moved in the Y direction by a predetermined distance, whereby the camera 22 attached to the work arm 14 is moved to the image reading position (planar position). In step ST11, the controller S further drives the third motor 60 to lower the work arm 14 by a predetermined distance,
The camera 22 is moved to the image reading position (height position). Subsequently, the control device S executes an image processing routine (see FIG. 13) which is a subroutine in step ST12. In the image processing routine, the position / orientation of the work W to be transferred is calculated (detected), and based on the calculation result, the work arm 14 (work clamp device 20) is used to accurately clamp the work W to be transferred. ) Is calculated, and the corresponding movement amount of the work arm 14 (work clamp device 20), that is, the driving amount of the first to fourth motors 58, 59, 60, 61 is calculated. . The details of the image processing routine will be described later.

In step ST13, the control device S determines the first, second,
The fourth motors 58, 59, 61 are driven, and as a result, the work arm 14 is arranged in a plane position where the work W can be accurately grasped. Subsequently, in step ST14, the third motor 60 is driven, and the work arm 14 (work clamp device 20) is lowered to a position (height position) where the work W to be transferred can be accurately grasped. The control device S further
In step ST15, the cylinder device 37 (FIG. 7) of the work clamp device 20 is fluid-operated, and the clamp arm 3
8 holds the work W to be transferred. Next, in step ST16, the control device S drives the third motor 60 to raise the work arm 14 to a position where it can be moved in the horizontal direction. The control device S, in step ST17,
The first, second, and fourth motors 58, 59, 61 are driven to move the work arm 14 holding the work W to the upper region of the ON position, that is, the upper region of the upstream end of the first work unloading device T1. . Next, in step ST18, the control device S makes the third
The motor 60 is driven to lower the work arm 14 to a position (height) at which the work W can be released on the transport conveyor 4, and subsequently in step ST19, the cylinder device 37 is operated.
Fluidly actuate. As a result, the clamp arm 38
The work W is released (unclamped), and the work W is transferred to the ON position on the conveyor 4.

On the other hand, in step ST5 and step ST6 described above, the controller S performs the pallet P as the next cycle operation.
If it is determined that the transfer operation of (1) should be executed, the first motor 58 is driven in step ST20 to move the movable beam 10 in the X direction by a predetermined distance. As a result, the pallet arm 13 moves above the pallet P to be transferred. Next, the control device S, in step ST21, moves to the fifth
The motor 62 is driven to lower the pallet arm 13 by a predetermined distance. Thus, the pallet arm 13 (pallet clamp device 19) descends to a position (height) where the pallet P to be transferred can be accurately grasped. Control device S
Further, in step ST22, the pallet clamp device 19 is operated, and the pallet clamp device 19 grips the pallet P. After that, the control device S makes a step
In ST23, the fifth motor 62 is driven to raise the pallet arm 13 to a position where it can be moved in the horizontal direction. In step ST24, the control device S takes in the distance data of the unloading position of the pallet P. That is, the control device S
Calculate the number of pallets P stacked on the trolley 5,
The height of the pallet layer is calculated from this number, and the position (height) at which the currently held pallet P should be transferred is calculated based on the calculation result.

The controller S further proceeds to step ST25,
The first motor 58 is driven to move the pallet arm 13 holding the pallet P above the carriage 5. Next, the control device S drives the fifth motor 62 in step ST26, and the pallet arm 13 lowers the pallet P to the vicinity of the upper end surface of the pallet layer on the trolley 5 based on the calculation result in step ST24. The control device S is a step
In ST27, the pallet clamp device 19 releases (unclamps) the pallet P, and the pallet P is released.
Are transferred onto the pallet layer on the carriage 5. Thus, the work transfer station WA automatically transfers the work W and the pallet P to a predetermined position on the first work unloading device T1 or the carriage 5 under the control of the control device S. Less than,
The image processing routine shown in FIG. 13 will be described in detail. In the image processing routine, the control device S detects the position / orientation of the work W to be transferred by binarizing the image captured by the camera 22. When the position / orientation of the work W cannot be detected by such image processing, the control device S changes the threshold value of the binarization process and performs image processing again to determine the position / orientation of the work W. To detect. When the control device S still cannot detect the position / orientation of the work W even after repeating such threshold value change a predetermined number of times, the camera 2
2 is moved in the horizontal direction by a predetermined distance, the position of the camera 22 is changed, and the above procedure is repeated. When the position of the work W is still not detected even after changing the position of the camera 22 a predetermined number of times, the control device S determines that some abnormality has occurred in the image processing,
Abort image processing.

If the position / orientation of the work W cannot be detected even if the threshold value is changed repeatedly, the visual field range of the camera 22 may be changed. The change of the visual field range may be performed by moving the camera 22 in the vertical direction, or by changing the shooting characteristics of the camera 22. In the image processing routine of this example, as shown in FIG. 13, a predetermined initial value of the count value m is set in the camera movement number counter (step S1). When the position / orientation of the work W to be transferred is detected, the camera movement number counter
It is a counter for counting the number of times the camera 22 is moved. This counter counts the number of times the position of the camera 22 is changed without detecting the position / posture of the work W due to the change of the threshold value. The count value m of the counter is
When the camera 22 moves once, the number 1 is subtracted,
Eventually it decreases to the value 0. The control device S determines whether or not the count value m is the numerical value 0 in step S2, and when it is determined that m = 0 (YES), step S4.
The image processing abnormality (NG) is displayed with and the image processing routine is terminated. On the other hand, when it is determined in step S2 that m ≠ 0 (NO), the control device S captures the image in step S3, and then removes the grayscale image noise in step S5.

Next, the control unit S determines whether the NG flag is on or off in step S6. The NG flag is
This flag is set to ON when the position / orientation of the work W to be transferred cannot be detected even after the threshold value is changed a predetermined number of times. When the control device S determines that the NG flag is off (NO), the step S
In step 7, the previous threshold value (current threshold value) is reset to the threshold value for the subsequent control, and if it is determined that the NG flag is on (YES), in step S8, The average brightness is used as the threshold. The controller S further sets a predetermined initial value to the count value n of the threshold value change counter in step S9. The threshold change counter is the work W to be transferred.
Is a counter that counts the number of times the threshold value of the binarization process is changed when detecting the position / orientation. The count value n of the threshold value change counter is decremented by 1 when the threshold value is changed once. The control device S changes the position of the camera 22 when the count value n is subtracted to the numerical value 0. In step S10, the control device S determines whether or not the count value n of the threshold value change number counter is a numerical value 0, and when n = 0 is determined (YES), the camera 22 is horizontally moved in step S21. In a predetermined direction by a predetermined distance, the count value m of the camera movement number counter is decremented by 1 in step S22, and NG is determined in step S23.
After setting the flag to ON, the process returns to step S2.

On the other hand, if n ≠ 0 is determined in step S10 (NO), the control device S executes the binarization process in step S11, removes the binary image noise in step S12, and in step S13. Labeling is executed, and a predetermined feature amount is extracted in step S14. The binarization process is a general method in which a multi-valued image captured by the camera 22 is recognized as pixels that are brighter than a predetermined threshold value as white and pixels that are darker than the predetermined threshold value as black. Done. In addition, for labeling, a label (for example, A) is set to 1
If two adjacent pixels are black and the pixel adjacent to this pixel is black, this pixel is also labeled A, and if the pixel adjacent to the pixel already labeled A is black, By repeating the procedure of assigning the label A to all of these pixels and recognizing the group of black pixels labeled with the label A as an image of one shape portion when the labeling is converged. Done. The shape portion is a constituent portion of the work W, and has a predetermined simple shape (for example, a circle) and is recognizable as a group of independent black pixels by the binarization process. For example,
When the work W is a cylinder block as in this example, the cylinder bore is a typical shape portion. By such binarization processing and labeling, the shape portion (for example, cylinder bore) in the captured image is recognized. Since not all the shape parts in the image are the shape parts of the same work W, in step ST14, the shape parts belonging to the same work W are selected based on a predetermined feature amount.

In step S14, a predetermined feature amount of each shape portion in the image is calculated (extracted). As the feature amount, for example, the following identification elements are adopted. (1) Area of each shape (for example, cylinder bore opening area) (2) Perimeter of each shape (for example, cylinder bore circumference) (3) Circular shape factor of each shape (ratio of area to circumference) (4) Space between two adjacent shape parts (for example, the pitch of the cylinder bore) (5) A straight line connecting the center of gravity (center) of two adjacent shape parts and the center of gravity of the other two adjacent shape parts Relative Angle Between Connecting Straight Line The control device S determines in step S15 that a shape part group having a pattern of feature amounts of each shape part of the work W (hereinafter, referred to as a reference pattern) stored in advance in the image. It is determined whether it is included. When the shape part group that matches the reference pattern of the work W is not included in the image,
Since it is considered that the binarization process is not properly performed, the threshold value is changed in step S19, and the step S2
When the value is 0, the count value n of the threshold value change counter is set to 1
Then, the process returns to step S10. That is, since the threshold value is too large or too small, the shape part of the work W cannot be properly recognized, and the reference pattern of the work W may not be found in the image. Steps S11 to S15 are repeated again.

On the other hand, when it is determined in step S15 that the shape part group that matches the reference pattern of the work W is included in the image, it is considered that the shape part group is the shape part of the work W. In S16, the center of gravity position (center of gravity coordinates) of the work W to be transferred, that is, the position / orientation of the work W to be transferred is calculated (extracted) based on the feature amount of the shape parts belonging to the group. In step S17,
Based on the position of the center of gravity of the work W to be transferred, the work W
In order to accurately grip the workpiece, the movement amount of the work arm 14 (work clamp device 20) is calculated, and the calculation result is transmitted to the main routine in step S18. According to such image processing, when a plurality of works W are included in the image captured by the camera 22, it is possible to select the shape portion belonging to the works W to be transferred, and thus the selection is performed. It is possible to accurately detect the position of the center of gravity of the work W, that is, the position / posture of the work W, from the feature amount of the shaped portion, and to accurately grasp the work W. As described above, according to the transport facility structure of the present embodiment, the loading and unloading paths of the pallets P1 and P2 are oriented substantially parallel and in opposite directions (FIG. 3, arrows A and B), and the carriage 5 is used. The transfer routes of the empty pallets P1 and P2 to the pallet P1,
P2 is oriented substantially at right angles to the loading and unloading paths (FIG. 3, arrow C) and thus the pallets P1, P
2 is moved along the generally U-shaped pallet movement path at the work transfer station WA. Also, the first
The upstream end of the work transfer device T1 extends into the corner area of the work transfer station WA and is adjacent to the work and pallet transfer area. The first work unloading device T1 is oriented at a predetermined angle θ with respect to the central axis of the work transfer station WA in the longitudinal direction (X direction) and extends toward the processing station M1. Work transfer station WA
Between the first work unloading device T1 and the first work unloading device T1, a triangular maintenance region D that converges toward the upstream end of the first work unloading device T1 is formed. The transfer station WA and the first work unloading device T1 can be easily approached, and the work transfer station WA and the first work unloading device T1 can be repaired or maintained. Further, according to the above configuration, since the pallet transfer path and the first work unloading device T1 are oriented with an angular interval therebetween, the pallet transfer path and the work transfer path can be relatively displaced relatively freely. . Therefore, the degree of freedom in designing the movement path of the pallet and the work transfer path can be significantly improved.

In the above embodiment, the structure of the transportation facility related to the manufacturing facility of the engine cylinder block has been described. However, the transportation facility of the present invention may be used in other various manufacturing facilities such as a transmission facility. It goes without saying that the structure can be applied.

[0029]

As described above, according to the above configuration of the present invention, it is possible to facilitate the maintenance and repair of the devices or equipment constituting the transfer facility, and to design the work transfer path and the pallet transfer path with a degree of freedom. It is possible to provide a transport facility structure capable of improving the above.

[Brief description of drawings]

FIG. 1 is a layout diagram showing a schematic overall layout of an engine manufacturing facility.

FIG. 2 is a perspective view of the work transfer station WA shown in FIG.

FIG. 3 is a horizontal sectional view of the work transfer station WA shown in FIG.

FIG. 4 is a plan view of the work transfer station WA shown in FIG.

5 is a vertical cross-sectional view of the work transfer station WA shown in FIG.

FIG. 6 is a side view of a pallet transfer device and a work transfer device.

FIG. 7 is an enlarged side view of the work clamp device shown in FIG.

FIG. 8 is an enlarged front view and a partially enlarged side view of the work clamp device.

FIG. 9 is an enlarged cross-sectional view showing a ball joint structure provided in the work clamp device.

FIG. 10 is an overall configuration diagram showing a control device of the work transfer device.

FIG. 11 is a flowchart partially showing a main routine of control executed by the control device.

FIG. 12 is a flowchart partially showing a control main routine executed by the control device.

FIG. 13 is a flowchart showing a subroutine (image processing routine) of the main routine shown in FIGS. 11 and 12.

[Explanation of symbols]

 WA work transfer station T1 first transfer device S control device P1 base pallet P2 intermediate pallet W work CU automatic control panel 10 movable beam 11 movable beam drive device 13 pallet arm 14 work arm 15 work arm drive device 18 work arm lifting device 19 Pallet clamp device 20 Work clamp device 22 Image processing camera

Claims (7)

[Claims] 1. A pallet movement path for moving a work transfer pallet, and a work transfer path that extends linearly along the work transfer path, wherein a work loaded on a pallet is transferred from the pallet to the work transfer path. In the transfer facility structure sequentially transferred to, the pallet movement path includes a pallet loading and unloading path, and a pallet loading path between the loading and unloading paths, the loading and unloading paths, Oriented in a substantially opposite direction with a lateral spacing, the pallet transfer path is configured to move the pallet of the carry-in path laterally and transfer the pallet to the carry-out path. The transfer path, the transfer path, and the unloading path are arranged between paths, and form a generally U-shaped pallet transfer path, and the work transfer path intersects the transfer path and the transfer path. The transport facility structure is arranged adjacent to a corner area of the pallet movement path. 2. A work transfer path for moving a work transfer pallet and a work transfer path linearly extending along the work transfer path, wherein works loaded on the pallet are transferred from the pallet to the work transfer path. In the transfer facility structure for sequentially transferring to, the pallet movement path, a pallet loading path and unloading path, and a work transfer station for sequentially transferring the work placed on the pallet to the work transfer path. The work transfer station includes a work and a pallet transfer area for receiving a pallet loaded with the work, and a pallet unloading area for unloading an empty pallet, and the work and the pallet transfer area are And the pallet carry-in path and the pallet carry-out path for carrying out empty pallets from the pallet carry-out area are laterally offset Transport facility structures being arranged Te. 3. The transfer facility according to claim 2, wherein the work transfer station includes a pallet transfer device that transfers an empty pallet from the work and pallet transfer area to the pallet unloading area. Construction. 4. The transfer facility according to claim 2, wherein the work transfer station has a work transfer device that transfers a work placed on a pallet to the work transfer path. Construction. 5. The pallet transfer path between the pallet carry-in path and the pallet carry-out path is oriented at a predetermined angle with respect to the work transfer path. The transport facility structure according to any one of 4 above. 6. The transfer facility structure according to claim 4, wherein the pallet transfer device and the work transfer device are movably supported by a common support member. 7. When all the pallets in the work and pallet transfer area have moved to the pallet unloading area, the work and pallet are automatically supplied to the work and pallet transfer area, and a predetermined number of empty pallets are stored in the pallet transfer area. 7. The transfer facility structure according to claim 2, wherein the empty pallet is unloaded along the unloading path when placed in the pallet unloading area.