Workpiece management system

Abstract

To provide a workpiece management system capable of efficiently storing a workpiece in a storage shelf.SOLUTION: When a workpiece 3 is transported to a second entrance 8 and the workpiece 3 is not transported to a first entrance 7, a workpiece management system 1 issues an instruction to a first lift mechanism 11 to raise the first lift mechanism 11. In addition, the workpiece management system 1 holds the workpiece 3 lifted by the first lift mechanism 11 with a second robot hand 31 and stores it in a storage shelf 6.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a system for managing work. [Background technology]

[0002] Patent Document 1 discloses a conveying device that allows a trailing workpiece to overtake a leading workpiece on a conveying line (conveyor). The conveying device has an overtaking auxiliary means (vertical movement traverser) that lifts the leading workpiece. A pair of lifting platforms is provided on the left and right of the vertical movement traverser, and a pair of cylinders is attached to each lifting platform, with a fork attached to the tip of the cylinder. The workpiece has four recesses for inserting the forks. When the leading workpiece reaches the position of the vertical movement traverser, the pair of lifting platforms are lowered simultaneously and the cylinder is driven, so that the fork enters inside the recesses. In this state, the pair of lifting platforms are raised simultaneously, so that the leading workpiece is raised. This allows the trailing workpiece to pass the position of the vertical movement traverser and overtake the leading workpiece. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-237940 A Summary of the Invention [Problem to be solved by the invention]

[0004] Consider a case where workpieces placed on a single conveyor are stored in a storage shelf using multiple robot hands. When a workpiece (a leading workpiece) is transported to an inlet accessible by a certain robot hand and a workpiece is not transported to an inlet accessible by another robot hand provided on the front side (downstream side) in the transport direction, a workpiece (a trailing workpiece) on the rear side (upstream side) in the transport direction of the leading workpiece cannot be stored in the storage shelf while the leading workpiece is being stored in the storage shelf. In this case, the waiting time (time in a standby state) that occurs until the trailing workpiece is stored in the storage shelf becomes long. In order to increase the production efficiency (productivity) of a product when assembling a workpiece discharged from a storage shelf, it is necessary not only to efficiently discharge the workpiece from the storage shelf but also to efficiently store the workpiece in the storage shelf by shortening the waiting time for the trailing workpiece to be in a standby state. In order to efficiently store the workpiece in the storage shelf, it is desirable to provide a lift mechanism capable of lifting the leading workpiece in a single conveyor so that the trailing workpiece can be transported to an inlet to which the workpiece is not yet transported.

[0005] Furthermore, in order to store the preceding workpiece efficiently in the storage shelf, it is not preferable to return the preceding workpiece to the conveyor after lifting it from the conveyor. As shown in Patent Document 1, in a configuration in which a part of the lift mechanism (fork) is inserted inside the preceding workpiece and the preceding workpiece is lifted, the preceding workpiece needs to be lowered and returned (placed) to the conveyor before storing the lifted preceding workpiece in the storage shelf. For this reason, the workpieces cannot be stored efficiently in the storage shelf, and as a result, the production efficiency (productivity) of the products produced using the workpieces cannot be improved.

[0006] One object of the present disclosure is to provide a work management system that can efficiently store workpieces in a storage shelf. [Means for solving the problem]

[0007] A first aspect of the present disclosure relates to a work management system that manages workpieces. The work management system includes an input conveyor for inputting workpieces to a first inlet or a second inlet located behind the first inlet in a transport direction, an output conveyor for outputting workpieces that have been dispensed to the first outlet or a second outlet located behind the first outlet in a transport direction, at least one storage shelf disposed between or outside the input conveyor and the output conveyor, a first robot having a first robot hand that can access the first inlet, the storage shelf, and the first outlet, a second robot having a second robot hand that can access the second inlet, the storage shelf, and the second outlet, a first lift mechanism that is provided at the second inlet in a manner that can be raised and lowered and that can lift the workpieces placed on the input conveyor, a second lift mechanism that is provided at the first outlet in a manner that can be raised and lowered and that can lift the workpieces placed on the output conveyor, and a control device that controls at least the first lift mechanism and the second lift mechanism. The first robot holds the work carried into the first entrance with the first robot hand and stores it in the storage shelf. The first robot also holds the work stored in the storage shelf with the first robot hand and delivers it to the first exit. The second robot holds the work carried into the second entrance with the second robot hand and stores it in the storage shelf. The second robot also holds the work stored in the storage shelf with the second robot hand and delivers it to the second exit. When a work is transported to the second entrance and a work has not been transported to the first entrance, the control device issues an instruction to the first lift mechanism to raise the first lift mechanism. Furthermore, the second robot holds the work lifted by the first lift mechanism with the second robot hand and stores it in the storage shelf.

[0008] A second aspect of the present disclosure has the following features in addition to the first aspect: When the transport order of the workpiece delivered to the second outlet is earlier than the transport order of the workpiece delivered to the first outlet, the control device issues an instruction to the second lift mechanism to raise the second lift mechanism. Effect of the Invention

[0009] According to the first aspect of the present disclosure, when a work (a preceding work) is transported to the second entrance and a work has not been transported to the first entrance, the preceding work is lifted by the first lift mechanism. As a result, a work (a following work) that is to be transported to the second entrance later passes through the second entrance and is transported to the first entrance, and the following work is held by the first robot hand and stored in the storage shelf. As a result, the time that the following work is in a standby state can be shortened. Moreover, the work lifted by the first lift mechanism is held by the second robot hand and stored in the storage shelf without being returned to the carry-in conveyor. As a result, the time required for storing the work in the storage shelf can be shortened, and together with the shortening of the time that the following work is in a standby state, the work can be efficiently stored in the storage shelf.

[0010] According to the second aspect of the present disclosure, when the conveyance order of the work (the preceding work) delivered to the second outlet is earlier than the conveyance order of the work (the following work) delivered to the first outlet, the following work is lifted by the second lift mechanism. This allows the preceding work to overtake the following work, and the conveyance order of the works is optimized. [Brief description of the drawings]

[0011] [Figure 1] 1A and 1B are diagrams for explaining an overview of a work management system according to an embodiment. [Diagram 2] 13A and 13B are explanatory diagrams showing a specific example of overtaking control when a workpiece is stored in a warehouse. [Diagram 3] 13(A) and 13(B) are explanatory diagrams showing a specific example of overtaking control when a workpiece is released from the warehouse. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A work management system according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. In addition, elements common to the various drawings will be designated by the same reference numerals, and duplicated descriptions will be omitted.

[0013] 1. Overview FIG. 1 is a diagram for explaining an overview of a work management system 1 according to an embodiment. The work management system 1 is applied, for example, to a production facility that produces products by assembling workpieces 3 dispensed from a storage shelf 6 described later. The work management system 1 manages the workpieces 3 that are carried into a storage area 2. Specifically, as shown in FIG. 1(A), the work management system 1 temporarily stores the workpieces 3 placed on an input conveyor 4 in the storage area 2 before transporting the workpieces 3 to a location for the next process. Then, the work management system 1 dispenses the workpieces 3 stored in the storage area 2 to an output conveyor 5 and transports them to a location for the next process. The workpieces 3 are, for example, battery modules that are assembled into a product such as a vehicle.

[0014] As shown in Figure 1 (B), the work management system 1 includes, in a storage area 2, an input conveyor 4, an output conveyor 5, a storage shelf 6, a first robot 20, a second robot 30, a first lift mechanism 11, a second lift mechanism 12, and a control device 40.

[0015] The carry-in conveyor 4 is a conveyor for carrying the workpieces 3 into the first inlet 7 or into the second inlet 8 located on the rear side (upstream side) of the first inlet 7 in the conveying direction.

[0016] The unloading conveyor 5 is a conveyor for unloading the workpieces 3 that have been delivered to the first unloading port 9 or to the second unloading port 10 that is located on the rear side (upstream side) of the first unloading port 9 in the conveying direction.

[0017] The storage shelf 6 may be disposed between the carry-in conveyor 4 and the unloading conveyor 5, or may be disposed outside the carry-in conveyor 4 and the unloading conveyor 5. In the example shown in FIG. 1(B), the storage shelf 6 is disposed between the carry-in conveyor 4 and the unloading conveyor 5. The number of storage shelves 6 disposed between the carry-in conveyor 4 and the unloading conveyor 5 may be one or more. In other words, at least one storage shelf 6 is disposed between the carry-in conveyor 4 and the unloading conveyor 5.

[0018] The first robot 20 has a first robot hand 21 that can access the first entrance 7, the storage shelf 6, and the first exit 9. The first robot 20 stores the workpiece 3 in the storage shelf 6 and delivers the workpiece 3 from the storage shelf 6. Specifically, when the workpiece 3 is carried into the first entrance 7, the first robot 20 holds the workpiece 3 with the first robot hand 21 and stores it in the storage shelf 6. The method of holding the workpiece 3 by the first robot hand 21 and the second robot hand 31 described later is not particularly limited, and for example, gripping, vacuum suction, or electrostatic suction can be used. In addition, the first robot 20 holds the workpiece 3 stored in the storage shelf 6 with the first robot hand 21 and delivers it to the first exit 9. The control of storing the workpiece 3 in the storage shelf 6 and delivering the workpiece 3 from the storage shelf 6 may be autonomous control by the first robot 20 or may be control by instructions from the control device 40.

[0019] The second robot 30 has a second robot hand 31 that can access the second inlet 8, the storage shelf 6, and the second outlet 10. The second robot 30 stores the workpiece 3 in the storage shelf 6 and delivers the workpiece 3 from the storage shelf 6. Specifically, when the workpiece 3 is carried into the second inlet 8, the second robot 30 holds the workpiece 3 with the second robot hand 31 and stores it in the storage shelf 6. In addition, the second robot 30 holds the workpiece 3 stored in the storage shelf 6 with the second robot hand 31 and delivers it to the second outlet 10. The control of the storage of the workpiece 3 in the storage shelf 6 and the delivery of the workpiece 3 from the storage shelf 6 may be autonomously controlled by the second robot 30, or may be controlled by instructions from the control device 40.

[0020] The first lift mechanism 11 is provided at the second entrance 8 so as to be able to rise and fall, and has a mechanism capable of lifting the workpiece 3 placed on the carry-in conveyor 4. When the workpiece 3 is carried into the second entrance 8, the first lift mechanism 11 lifts the workpiece 3. In this case, the first lift mechanism 11 is controlled to raise the height of the first lift mechanism 11 from the storage position to a predetermined position. After the workpiece 3 is held by the second robot hand 31 and separated from the first lift mechanism 11, the first lift mechanism 11 is controlled to lower the height of the first lift mechanism 11 from the predetermined position to the storage position. The height control of the first lift mechanism 11 is performed by the control device 40.

[0021] Consider the case where the work 3 carried into the second entrance 8 and lifted by the first lift mechanism 11 is the "preceding work 3", and another work 3 carried into the second entrance 8 later is the "following work 3". For example, when the work 3 has not been transported to the first entrance 7, the following work 3 may pass through the second entrance 8 and be carried into the first entrance 7 while the preceding work 3 is being lifted. Therefore, the first lift mechanism 11 is provided at the second entrance 8 and outside the carry-in conveyor 4 so that the following work 3 can pass through the second entrance 8 when the first lift mechanism 11 is raised. Note that when the height of the first lift mechanism 11 is in the storage position, the height of the first lift mechanism 11 is smaller than the height of the carry-in conveyor 4, and when the height of the first lift mechanism 11 is in a predetermined position, the height of the first lift mechanism 11 is larger than the height of the following work 3.

[0022] Furthermore, the workpiece 3 lifted by the first lift mechanism 11 (the preceding workpiece 3) may be held by the second robot hand 31 and stored in the storage shelf 6. This allows the preceding workpiece 3 lifted by the first lift mechanism 11 to be stored in the storage shelf 6 without being returned (placed) on the conveyor. This therefore shortens the time required to store the workpiece 3 in the storage shelf 6, and allows the workpiece 3 to be efficiently stored in the storage shelf 6. This in turn improves the production efficiency of products produced using the workpiece 3.

[0023] The second lift mechanism 12 is provided at the first outlet 9 so as to be able to rise and fall, and has a mechanism capable of lifting the work 3 placed on the discharge conveyor 5. The second lift mechanism 12 lifts the work 3 discharged to the first outlet 9 when a predetermined condition is satisfied. The predetermined condition means that, when a work 3 discharged to the first outlet 9 and lifted by the second lift mechanism 12 is defined as a "leading work 3," and another work 3 discharged to the second outlet 10 and carried into the first outlet 9 later is defined as a "following work 3," it is necessary to switch the transport order of the leading work 3 and the following work 3.

[0024] For example, when the transport order of the leading workpiece 3 and the trailing workpiece 3 is switched, the second lift mechanism 12 is controlled to raise the height of the second lift mechanism 12 from the storage position to a predetermined position. Also, after the transport order of the leading workpiece 3 and the trailing workpiece 3 is switched, the second lift mechanism 12 is controlled to lower the height of the second lift mechanism 12, which has lifted the leading workpiece 3, from the predetermined position to the storage position. The height control of the second lift mechanism 12 is performed by the control device 40.

[0025] The second lift mechanism 12 is provided at the first outlet 9 and outside the unloading conveyor 5 so that the following workpiece 3 can pass through the first outlet 9 when the second lift mechanism 12 is raised. When the height of the second lift mechanism 12 is in the storage position, the height of the second lift mechanism 12 is smaller than the height of the unloading conveyor 5, and when the height of the second lift mechanism 12 is in a predetermined position, the height of the second lift mechanism 12 is larger than the height of the following workpiece 3.

[0026] When the workpiece 3 is delivered to the first outlet 9, the workpiece 3 is not necessarily placed on the delivery conveyor 5. For example, the second lift mechanism 12 may be raised in advance so that the workpiece 3 delivered from the storage shelf 6 is placed on the second lift mechanism 12.

[0027] The control device 40 controls at least the first lift mechanism 11 and the second lift mechanism 12. Specifically, as described above, the control device 40 controls each of the first lift mechanism 11 and the second lift mechanism 12 to raise or lower.

[0028] When the first lift mechanism 11 and the second lift mechanism 12 are controlled to rise or fall, it is assumed that the first robot 20 and the second robot 30 will temporarily suspend control of storing the workpiece 3 in the storage shelf 6 or removing the workpiece 3 from the storage shelf 6. Therefore, after controlling the first lift mechanism 11 and the second lift mechanism 12, the control device 40 may instruct the first robot 20 and the second robot 30 to resume control of storing the workpiece 3 in the storage shelf 6 or removing the workpiece 3 from the storage shelf 6.

[0029] Furthermore, the control device 40 performs control (hereinafter referred to as overtaking control) that can switch the transport order of the following workpiece 3 and the preceding workpiece 3 when the workpiece 3 is brought into the warehouse and when the workpiece 3 is taken out of the warehouse. The details of the overtaking control will be described later.

[0030] 2. Overtaking Control 2-1. When the workpiece is received 2 is an explanatory diagram showing a specific example of overtaking control when a workpiece 3 is brought into storage. Consider a case where the workpiece 3 (preceding workpiece 3) transported to the second entrance 8 is stored in the storage shelf 6. In this case, it is assumed that the operation of the carrying-in conveyor 4 is temporarily suspended from the time the preceding workpiece 3 is transported to the second entrance 8 until it is held by the second robot hand 31 and separated from the first lift mechanism 11, and the following workpiece 3 that is brought into the second entrance 8 later is put into a standby state.

[0031] 2(A), the longer the operation of the carry-in conveyor 4 is temporarily suspended, the longer the following work 3 is in a waiting state, and the lower the production efficiency of the product processed using the work 3. If the work 3 has not been transported to the first entrance 7, the following work 3 may be transported to the first entrance 7.

[0032] Therefore, when the work 3 is stored, if the work 3 is transported to the second entrance 8 and the work 3 has not yet been transported to the first entrance 7, the control device 40 issues an instruction to the first lift mechanism 11 to raise the first lift mechanism 11. As a result, as shown in FIG. 2(B), the leading work 3 is lifted by the first lift mechanism 11, and the trailing work 3 passes through the second entrance 8 and is transported to the first entrance 7. In other words, the trailing work 3 can overtake the leading work 3. Therefore, the time that the trailing work 3 is in a standby state is shortened, and the work 3 can be efficiently stored in the storage shelf 6. In turn, the production efficiency of the product produced using the work 3 is improved.

[0033] 2-2. When the work is removed from the warehouse FIG. 3 is an explanatory diagram showing a specific example of overtaking control when a work 3 is delivered. Consider the transport order of the work 3 delivered to the first delivery port 9 (preceding work 3) and the work 3 delivered to the second delivery port 10 (following work 3). For example, if the production lot number indicating the production date of the work 3 is older for the following work 3 than for the preceding work 3, the work 3 with the older production lot number may be distributed to the market later than the work 3 with the newer production lot number. In this case, from the viewpoint of quality control of the work 3, it is desirable to interchange the transport order of the following work 3 and the preceding work 3, and transport the following work 3 to the next process before the preceding work 3. Also, for example, there are cases where multiple types of work 3 (for example, first and second types) are stored in the storage shelf 6, and it is desired to transport the following work 3 (first type) to the next process before the preceding work 3 (second type). In this case too, it is desirable to switch the transport order of the trailing (first type) workpiece 3 and the leading (second type) workpiece 3, and transport the trailing (first type) workpiece 3 to the next process before the leading (second type) workpiece 3.

[0034] Therefore, when the workpiece 3 is unloaded, if the transport order of the workpiece 3 unloaded to the second unloading port 10 precedes the transport order of the workpiece 3 unloaded to the first unloading port 9 as shown in Fig. 3(A), the control device 40 instructs the second lift mechanism 12 to raise the second lift mechanism 12. As a result, as shown in Fig. 3(B), the leading workpiece 3 is lifted by the second lift mechanism 12, and the trailing workpiece 3 can overtake the leading workpiece 3. Therefore, the transport order of the workpieces 3 is optimized.

[0035] 3.Effects According to this embodiment, when the work 3 is stored, if the work 3 (the preceding work 3) is transported to the second entrance 8 and the work 3 has not been transported to the first entrance 7, an instruction is given to the first lift mechanism 11 to raise the first lift mechanism 11. As a result, the preceding work 3 is lifted by the first lift mechanism 11, and the work 3 (the following work 3) that is to be transported to the second entrance 8 later passes through the second entrance 8 and is transported to the first entrance 7. The following work 3 that is transported to the first entrance 7 is held by the first robot hand 21 and stored in the storage shelf 6. As a result, the time that the following work 3 is in a standby state can be shortened. Moreover, when the work 3 is stored, the work 3 lifted by the first lift mechanism 11 is held by the second robot hand 31 and stored in the storage shelf 6 without being returned to the carry-in conveyor 4. This shortens the time required to store the workpieces 3 in the storage shelf 6, and together with the shortening of the time that the following workpieces 3 are in a standby state, the workpieces 3 can be efficiently stored in the storage shelf. In turn, this improves the production efficiency (productivity) of products processed using the workpieces 3.

[0036] Furthermore, according to this embodiment, when the work 3 is unloaded, if the transport order of the work 3 (leading work 3) unloaded to the second unloading port 10 precedes the transport order of the work 3 (following work 3) unloaded to the first unloading port 9, an instruction is given to the second lift mechanism 12 to lift the second lift mechanism 12. As a result, the following work 3 is lifted by the second lift mechanism 12, and the leading work 3 can overtake the following work 3, thereby optimizing the transport order of the work 3. [Explanation of symbols]

[0037] Reference Signs List 1...work management system, 2...storage area, 3...work, 4...incoming conveyor, 5...outgoing conveyor, 6...storage shelf, 7...first inlet, 8...second inlet, 9...first outlet, 10...second outlet, 11...first lift mechanism, 12...second lift mechanism, 20...first robot, 21...first robot hand, 30...second robot, 31...second robot hand, 40...control device

Claims

1. A work management system for managing work, A carry-in conveyor for carrying the work to a first entrance or a second entrance rearward of the first entrance in a conveying direction; A conveyor for conveying the workpiece discharged from the first outlet or the first outlet to a second outlet on the rear side in the conveying direction; at least one storage shelf disposed between or outside the input conveyor and the output conveyor; a first robot having a first robot hand that can access the first entrance, the storage shelf, and the first exit; a second robot having a second robot hand that can access the second inlet, the storage shelf, and the second outlet; A first lift mechanism that is provided at the second entrance so as to be capable of ascending and descending and that can lift a workpiece placed on the carry-in conveyor; A second lift mechanism that is provided at the first outlet port so as to be capable of ascending and descending and that can lift the workpiece placed on the carry-out conveyor; A control device that controls at least the first lift mechanism and the second lift mechanism; Equipped with The first robot is configured to hold a workpiece carried into the first inlet with the first robot hand and store it in the storage shelf, and to hold the workpiece stored in the storage shelf with the first robot hand and deliver it to the first outlet, The second robot is configured to hold a work carried into the second inlet port with the second robot hand and store it in the storage shelf, and to hold the work stored in the storage shelf with the second robot hand and deliver it to the second outlet port, The control device is configured to, when a workpiece is transported to the second inlet and a workpiece has not been transported to the first inlet, issue an instruction to the first lift mechanism to raise the first lift mechanism; The second robot is further configured to hold the workpiece lifted by the first lift mechanism with the second robot hand and store the workpiece in the storage shelf. A work management system comprising:

2. The work management system according to claim 1, The control device further comprises: When the transport order of the workpiece delivered to the second outlet is earlier than the transport order of the workpiece delivered to the first outlet, an instruction is issued to the second lift mechanism to raise the second lift mechanism. A work management system comprising:

Images