Conveyance system and robot

Abstract

To provide a conveyance system and a robot capable of expanding a range of automation.SOLUTION: A conveyance system includes a robot (21) having a master hand (210), a pallet (410) for holding a workpiece, a shelf board (510) on which the pallet (410) is placed, and a workpiece hand (310) capable of gripping the workpiece. The pallet (410) includes a first holding unit (120A) that can be held by the master hand (210). The shelf board (510) includes a second gripping portion (side 120B) that can be gripped by the master hand (210). The workpiece hand (310) includes a third holding unit (120C) that can be held by the master hand (210).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a transport system and a robot. [Background technology]

[0002] For example, Japanese Patent Application Laid-Open No. 2017-102825 (Patent Document 1) discloses a composite system comprising a machine tool having a workpiece fixing jig that can move integrally with the table, a workpiece stocker that stores the workpieces, and a robot system having a robot that supplies and removes workpieces between the workpiece fixing jig and the workpiece stocker. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-102825 Summary of the Invention [Problem to be solved by the invention]

[0004] As disclosed in the above-mentioned Patent Document 1, a transport system that transports workpieces using a robot is known. In such a transport system, there is a demand for expanding the scope of automation by increasing the number of uses for the robot.

[0005] An object of the present invention is to provide a transport system and a robot that can expand the scope of automation. [Means for solving the problem]

[0006] A transport system according to the present invention includes a robot having a master hand, a pallet for holding a workpiece, a shelf board on which the pallet is placed, and a workpiece hand capable of gripping the workpiece. The pallet has a first gripping portion that can be gripped by the master hand. The shelf board has a second gripping portion that can be gripped by the master hand. The workpiece hand has a third gripping portion that can be gripped by the master hand.

[0007] A robot according to the present invention has a first gripper and is capable of transporting a pallet for holding a workpiece to a shelf having a second gripper on which the pallet is placed. The robot includes a first arm, a second arm rotatably attached to the first arm, and a master hand rotatably attached to the second arm, capable of gripping the first gripper and also capable of gripping the second gripper. The pallet is transported with the master hand gripping the first gripper. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a transport system and a robot that can widen the scope of automation. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a top view showing a transport system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a simplified top view of the transport system in FIG. [Figure 3] FIG. 10 is a perspective view showing the relationship between the master hand, the pallet, the work hand, the shelf board, and the teaching hand. [Figure 4] FIG. 2 is a perspective view showing a master hand. [Figure 5] FIG. 10 is another perspective view showing the master hand. [Figure 6] FIG. 2 is a diagram for explaining the structure of a master hand. [Figure 7] FIG. 2 is a perspective view showing a pallet stocker in FIG. [Figure 8] 8 is a perspective view showing a pallet stocker in the area surrounded by a two-dot chain line VIII in FIG. 7. [Figure 9] FIG. 2 is a block diagram showing a control system of the transport system in FIG. [Figure 10] FIG. 10 is a top view showing the first step of workpiece machining using the workpiece stocker. [Figure 11] FIG. 10 is a top view showing a second step of workpiece machining using the workpiece stocker. [Figure 12] FIG. 10 is a top view showing a third step of workpiece machining using the workpiece stocker. [Figure 13] FIG. 10 is a top view showing a fourth step of workpiece machining using the workpiece stocker. [Figure 14] FIG. 10 is a top view showing a fifth step of workpiece machining using the workpiece stocker. [Figure 15] FIG. 10 is a top view showing a sixth step of workpiece machining using the workpiece stocker. [Figure 16] FIG. 1 is a top view showing the first step of workpiece machining using the setup station. [Figure 17] FIG. 10 is a top view showing a second step of workpiece machining using the setup station. [Figure 18] FIG. 10 is a top view showing a third step of workpiece machining using the setup station. [Figure 19] FIG. 10 is a top view showing the fourth step of workpiece machining using the setup station. [Figure 20] FIG. 10 is a top view showing the fifth step of workpiece machining using the setup station. [Figure 21] FIG. 10 is a top view showing the first step of loading a pallet into the pallet stocker. [Figure 22] FIG. 10 is a top view showing a second step of loading pallets into the pallet stocker. [Figure 23] FIG. 10 is a top view showing a third step of loading pallets into the pallet stocker. [Figure 24]FIG. 8 is a front view showing the pallet stocker in FIG. 7. [Figure 25] FIG. 10 is a block diagram showing a control system for changing the position of a shelf board in a pallet stocker. [Figure 26] 10 is a flowchart showing the flow of changing the position of a shelf board in a pallet stocker. [Figure 27] FIG. 10 is a diagram showing a position change screen (before updating) on ​​the display unit. [Figure 28] FIG. 10 is a diagram showing a position change screen (after update) on the display unit. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to the accompanying drawings, in which the same or equivalent components are designated by the same reference numerals.

[0011] Fig. 1 is a top view showing a transfer system according to an embodiment of the present invention, and Fig. 2 is a top view showing a simplified version of the transfer system shown in Fig. 1.

[0012] 1 and 2, a transfer system 100 according to the present embodiment includes a robot 21 and a robot base 22. The robot 21 and the robot base 22 are similar to those shown in FIG.

[0013] As a typical example, the robot 21 is a six-axis articulated robot. The robot 21 has a base unit 26, a first arm 27, a second arm 28, a hand attachment unit 29, and a master hand 210.

[0014] The robot base 22 is a support platform that supports the robot 21 and is fixed to the floor of a factory or the like. The robot base 22 is made of metal. The base unit 26 is connected to the robot base 22 so as to be rotatable around a central axis of rotation 101. The central axis of rotation 101 is an imaginary straight line that corresponds to the center of rotation of the robot 21 and extends in the vertical direction.

[0015] The first arm 27 is attached to the base 26. The first arm 27 is rotatable about a rotation center axis 102 located at the attachment portion (joint) of the first arm 27 to the base 26. The second arm 28 is attached to the first arm 27. The second arm 28 is rotatable about a rotation center axis 103 located at the attachment portion (joint) of the second arm 28 to the first arm 27, and is capable of rotating the hand attachment portion 29 about a rotation center axis 104 along the second arm 28. The hand attachment portion 29 is attached to the second arm 28. The hand attachment portion 29 is rotatable about a rotation center axis 105 located at the attachment portion (joint) of the hand attachment portion 29 to the second arm 28, and is capable of rotating the master hand 210 about a rotation center axis 106 along the hand attachment portion 29.

[0016] The master hand 210 is attached to a hand attachment portion 29 as an end effector. The master hand 210 is attached to the second arm 28 so as to be rotatable around a rotation center axis 105. The master hand 210 is attached to the second arm 28 via the hand attachment portion 29. The second arm 28 is attached to the first arm 27 so as to be rotatable around a rotation center axis 103.

[0017] The robot 21 further has a plurality of drive servo motors 23 for operating the base 26, the first arm 27, the second arm 28, the hand attachment part 29 and the master hand 210 around the above-mentioned plurality of axes (swivel axis 101, rotation axis 102, rotation axis 103, rotation axis 104, rotation axis 105 and rotation axis 106) (see Figures 9 and 25 described below).

[0018] 1, a two-dot chain line 111 indicates the area in which the master hand 210 moves (the operating area of ​​the master hand 210) in the transport system 100. In addition, a two-dot chain line 112 extending in an arc shape around the central pivot axis 101 indicates the maximum area in which the master hand 210 can move.

[0019] The transfer system 100 further includes a machine tool 10 (10S, 10T), a pallet stocker 31 (31S, 31T), a work stocker 71, a hand stocker 81, and a setup station 61 (61S, 61T).

[0020] The machine tool 10 (10S, 10T), pallet stocker 31 (31S, 31T), workpiece stocker 71, hand stocker 81, and setup station 61 (61S, 61T) are provided around the robot base 22. The machine tool 10 (10S, 10T), pallet stocker 31 (31S, 31T), workpiece stocker 71, hand stocker 81, and setup station 61 (61S, 61T) are lined up in the circumferential direction of the turning center axis 101. In the top view shown in FIG. 1 , at least a portion of each of the machine tool 10 (10S, 10T), pallet stocker 31 (31S, 31T), workpiece stocker 71, hand stocker 81, and setup station 61 (61S, 61T) overlaps with the operating area of ​​the master hand 210 indicated by the two-dot chain line 111.

[0021] The robot in the present invention is not limited to the six-axis articulated robot described above, but may be, for example, a robot (gantry loader) capable of moving an object to be transported in three mutually perpendicular axis directions. Also, the machine tool, pallet stocker, work stocker, hand stocker, and setup station may be arranged in a straight line.

[0022] Machine tool 10 is a machining center that processes a workpiece by bringing a rotating tool into contact with the workpiece. Machine tool 10 is an NC (Numerically Controlled) machine tool in which various operations for processing the workpiece are automated by computer numerical control.

[0023] Machine tool 10 may be a multi-tasking machine having a turning function using a fixed tool and a milling function using a rotary tool, or may be an AM / SM hybrid machine capable of additive manufacturing and subtractive manufacturing of a workpiece. Machine tool 10S and machine tool 10T may be the same type of machine tool, or may be different types of machine tools.

[0024] Machine tool 10 has a cover body 14. Cover body 14 defines the exterior of machine tool 10 and defines machining area 12. Machining area 12 is a space where workpiece machining is performed, and is sealed by cover body 14 to prevent foreign matter such as chips or cutting oil resulting from workpiece machining from leaking outside the machining area.

[0025] An opening 16 is provided in the cover body 14. The robot 21 transports an object to be transported, such as a workpiece W or a pallet 410, to the processing area 12 through the opening 16. The opening 16 is provided with a door or shutter that can be opened and closed.

[0026] The machining area 12 is provided with a tool spindle for rotating a tool, a table for holding a pallet 410, and the like.

[0027] Machine tool 10 further has an operation panel 18. Operation panel 18 includes a control device that controls the operation of machine tool 10, a display unit (display) for displaying various information related to machining, and an operation unit that accepts various operations on machine tool 10.

[0028] Machine tool 10S and machine tool 10T are provided at positions facing each other across robot base 22. Machine tool 10S and machine tool 10T are provided at angular positions offset by 180° in the circumferential direction about central turning axis 101.

[0029] Pallet stocker 31 is a device for storing pallets 410. Pallet stocker 31 is provided between machine tool 10S and machine tool 10T in the circumferential direction centered on turning central axis 101. Pallet stocker 31S and pallet stocker 31T are provided adjacent to each other in the circumferential direction centered on turning central axis 101.

[0030] The work stocker 71 is a device for storing the workpieces W. The workpiece stocker 71 has a shelf structure on which the workpieces W can be placed. The hand stocker 81 is a device for storing various hands such as the workpiece hand 310 and teaching hand 710, which will be described later. The hand stocker 81 has a shelf structure on which the various hands can be placed.

[0031] The workpiece stocker 71 and the hand stocker 81 are provided between the machine tool 10S and the machine tool 10T in the circumferential direction centered on the central turning axis 101. The workpiece stocker 71 and the hand stocker 81 are provided in a position facing the pallet stocker 31 (31S, 31T) across the robot base 22. The workpiece stocker 71 and the hand stocker 81 are provided next to each other above and below.

[0032] Setup station 61 is a device that mainly performs the work of attaching and detaching workpieces W to and from pallets 410. A pallet placement table (not shown) on which pallets 410 can be placed is installed in setup station 61. Setup station 61 is provided between workpiece stocker 71 and hand stocker 81 and machine tool 10 in the circumferential direction about turning central axis 101. Setup station 61 is provided adjacent to workpiece stocker 71 and hand stocker 81 in the circumferential direction about turning central axis 101.

[0033] The setup station 61S and the setup station 61T are provided on both sides of the work stocker 71 and the hand stocker 81 in the circumferential direction about the central axis of rotation 101.

[0034] The number of each of the machine tools 10, pallet stockers 31, work stockers 71, hand stockers 81 and setup stations 61 provided in the transport system 100 is not particularly limited.

[0035] The transport system 100 further has a plurality of fences 56 (56h, 56i, 56j, 56k). The fences 56 rise from the floor of a factory or the like. In the top view shown in FIG. 1, fence 56h extends between the machine tool 10S and the pallet stocker 31S. In the top view shown in FIG. 1, fence 56i extends between the pallet stocker 31T and the machine tool 10T. In the top view shown in FIG. 1, fence 56j extends between the machine tool 10T and the setup station 61T. In the top view shown in FIG. 1, fence 56k extends between the setup station 61S and the machine tool 10S.

[0036] The robot 21 is placed in a space 113 surrounded by a plurality of fences 56 (56h, 56i, 56j, 56k), machine tools 10 (10S, 10T), pallet stockers 31 (31S, 31T), work stockers 71, hand stockers 81, and setup stations 61 (61S, 61T). The operating area of ​​the master hand 210 indicated by a two-dot chain line 111 is included in the space 113.

[0037] An operator cannot access the pallet stocker 31 from outside the space 113. An operator can load a pallet 410 into the pallet stocker 31 or retrieve a pallet 410 from the pallet stocker 31 through the setup station 61. An operator can access the work stocker 71 and the hand stocker 81 from outside the space 113. An operator can load an unprocessed workpiece W into the conveyance system 100 or retrieve a processed workpiece W' from the conveyance system 100 through the work stocker 71. An operator can load various hands into the conveyance system 100 or retrieve them from the conveyance system 100 through the hand stocker 81.

[0038] The transport system 100 further includes a transport operation panel 51. The transport operation panel 51 includes a control device 610 that controls the operation of the robot 21, a display unit 670 that displays various information related to transport by the robot 21, and an operation unit that accepts various operations for the robot 21 (see FIGS. 9 and 25 described below). In this embodiment, the display unit 670 is configured with a touch panel display that can be operated by an operator, and performs part of the function of the operation unit. The operation unit may be configured with various buttons that can be pressed, numeric keys that can input numbers, a dial, or the like.

[0039] The transfer operation panel 51 is attached to the work stocker 71 and the hand stocker 81. The location where the transfer operation panel 51 is provided is not particularly limited.

[0040] Fig. 3 is a perspective view showing the relationship between the master hand, the pallet, the work hand, the shelf board, and the teaching hand. Fig. 4 and Fig. 5 are perspective views showing the master hand. Fig. 6 is a diagram for explaining the structure of the master hand.

[0041] 3 to 6, the master hand 210 has a clamping mechanism 220. The clamping mechanism 220 is configured to be operable between a clamped state in which the gripping portion 120 is held and an unclamped state in which the gripping portion 120 is released.

[0042] 4 to 6, grip portion 120 has a grip shape centered on central axis 126. Grip portion 120 is provided with groove portion 121. Groove portion 121 is recessed from the outer circumferential surface of grip portion 120 and has a groove shape that circles around central axis 126.

[0043] The clamp mechanism 220 has the appearance of a block body. The clamp mechanism 220 is provided with a grip insertion hole 221. The grip insertion hole 221 is open facing in one direction.

[0044] The clamp mechanism 220 is made up of a cylinder piston. The clamp mechanism 220 has a pair of pistons 226. The pair of pistons 226 extend in a shaft-like manner along a central axis 231 that is perpendicular to the central axis 126 and intersects with the grip insertion hole 221. The pair of pistons 226 face each other with a gap in between in the axial direction of the central axis 231. The pair of pistons 226 are supported so as to be slidable in the axial direction of the central axis 126. A protrusion 227 that can engage with the groove 121 is provided at the tip of each piston 226.

[0045] When the master hand 210 grips the gripping portion 120, the master hand 210 is positioned so that the clamping mechanism 220 faces the gripping portion 120. The master hand 210 is moved linearly in a direction approaching the gripping portion 120, thereby inserting the gripping portion 120 into the grip insertion hole 221. By supplying air pressure or the like, the pair of pistons 226 are slid toward each other, thereby operating the clamping mechanism 220 from the unclamped state to the clamped state. As a result, the protrusions 227 of the pair of pistons 226 advance into the grip insertion hole 221 and engage with the grooves 121.

[0046] When the master hand 210 releases the gripping portion 120, the pair of pistons 226 are slid away from each other, thereby operating the clamping mechanism 220 from the clamped state to the unclamped state. This causes the protrusions 227 of the pair of pistons 226 to retract from the grip insertion holes 221 and come out of the grooves 121. The master hand 210 is moved linearly away from the gripping portion 120, thereby removing the gripping portion 120 from the grip insertion hole 221.

[0047] 5, the conveyance system 100 further includes a sensor 230. The sensor 230 is a sensor capable of detecting the presence or absence of an object, and is, for example, a non-contact photoelectric sensor. The sensor 230 may be a proximity sensor or a contact sensor such as a limit switch.

[0048] The sensor 230 is mounted on the robot 21. The sensor 230 is mounted on the master hand 210. When the sensor 230 is a photoelectric sensor, the direction of light emitted from the sensor 230 may be parallel to the direction in which the gripper 120 moves forward and backward relative to the master hand 210.

[0049] 3, the transport system 100 further includes a pallet 410 for holding the workpiece. The transport system 100 includes a plurality of pallets 410.

[0050] Pallet 410 is made of a metal plate and has a generally rectangular shape when viewed from above. A clamping mechanism for holding pallet 410 is built into a table provided in machine tool 10. A jig such as a tombstone or a clamping device is attached to pallet 410, and a workpiece is held on pallet 410 via the jig.

[0051] The pallet 410 has a first gripping portion 120A. The first gripping portion 120A corresponds to the gripping portion 120 described above, and is configured to be able to be gripped by the master hand 210. The first gripping portion 120A is provided on a side surface of the pallet 410. The first gripping portion 120A is provided so as to be detachable from the pallet 410.

[0052] The master hand 210 grips the first gripping portion 120A, whereby the robot 21 can transport the pallet 410.

[0053] Fig. 7 is a perspective view showing the pallet stocker in Fig. 1. Fig. 8 is a perspective view showing the pallet stocker in the area surrounded by the two-dot chain line VIII in Fig. 7.

[0054] 7 and 8, as well as other figures showing the pallet stocker 31, show X-, Y-, and Z-axes, which are coordinate axes of the pallet stocker 31. The X-axis extends horizontally corresponding to the width direction (left-right direction) of the pallet stocker 31, the Y-axis extends vertically, and the Z-axis extends horizontally corresponding to the depth direction (front-rear direction) of the pallet stocker 31. The X-, Y-, and Z-axes are three axes that are perpendicular to one another.

[0055] 3, 7 and 8, pallet stocker 31 has a frame body 550, a plurality of support portions 560, and a plurality of shelf boards 510. As shown in FIG.

[0056] The frame body 550 is a rectangular parallelepiped frame body. The frame body 550 is a rectangular parallelepiped frame body with the X-axis direction and the Y-axis direction as its longitudinal direction and the Z-axis direction as its lateral direction. The frame body 550 has four pillars 551. The four pillars 551 are arranged at the four corners of the frame body 550 when viewed from above. Each pillar 551 extends in the Y-axis direction (up and down direction).

[0057] The support portion 560 is configured to be able to support the shelf board 510. The multiple support portions 560 are arranged at intervals from one another in the vertical direction.

[0058] The support portion 560 has a pair of plates 561 on the left and right. The pair of plates 561 are provided with a gap between them in the X-axis direction. The plate 561 extends in the Z-axis direction while forming an L-shaped cross section when cut along the X-axis-Y-axis plane. Both ends of the plate 561 in the Z-axis direction are respectively connected to two pillars 551 aligned in the Z-axis direction.

[0059] The shelf board 510 is configured to be able to place the pallet 410. When viewed from above, the shelf board 510 has a rectangular shape with the X-axis direction as the longitudinal direction and the Z-axis direction as the lateral direction, and has a plate shape with the Y-axis direction as the thickness direction.

[0060] The shelf board 510 has a pair of vertical frames 532 on the left and right sides and a pair of horizontal frames 531 on the front and back sides. The pair of vertical frames 532 are provided at a distance from each other in the X-axis direction. The pair of vertical frames 532 are provided at both ends of the shelf board 510 in the X-axis direction. The vertical frames 532 are made of plate material whose thickness direction is in the Y-axis direction and extend in the Z-axis direction. The pair of horizontal frames 531 are provided at a distance from each other in the Z-axis direction. The horizontal frame 531 extends in the X-axis direction and is connected at both ends to the pair of vertical frames 532.

[0061] 7 and 8, the shelf board 510 is supported by a support portion 560. A pair of vertical frames 532 is placed on a pair of plates 561. The pair of vertical frames 532 supports the weight of the shelf board 510.

[0062] As shown in FIG. 8 , the support portion 560 further has a pin 562. The pin 562 is provided on a plate 561. The pin 562 protrudes upward from the top surface of the plate 561. The vertical frame 532 has a pin hole 533. The pin hole 533 is a through-hole that penetrates the vertical frame 532 in the Y-axis direction. The pin 562 is disposed in the pin hole 533. This configuration prevents the shelf board 510 from shifting position relative to the support portion 560.

[0063] As shown in FIG. 3, the shelf 510 further includes a plurality of pallet supports 520 (520p, 520q, 520r).

[0064] Each pallet support portion 520 is configured to be able to support a pallet 410. Each pallet support portion 520 is configured with four tapered cone receiving portions 525 that are arranged at intervals in the X-axis direction and the Z-axis direction. The tapered cone receiving portions 525 are provided on a horizontal frame 531. The tapered cone receiving portions 525 protrude upward from the top surface of the horizontal frame 531. The tapered cone receiving portions 525 have a concave shape that can receive a tapered cone provided on the bottom surface of the pallet 410.

[0065] Pallet support portion 520p, pallet support portion 520q, and pallet support portion 520r are aligned in the X-axis direction in the order listed.

[0066] The shelf 510 is capable of supporting pallets 410 of different sizes. For example, the shelf 510 is capable of supporting pallets 410 of 400 mm x 400 mm and pallets 410 of 500 mm x 500 mm. When the pallets 410 are 400 mm x 400 mm in size, three pallets 410 can be placed on the shelf 510 using the pallet support portions 520p, pallet support portion 520q, and pallet support portion 520r. When the pallets 410 are 500 mm x 500 mm in size, two pallets 410 can be placed on the shelf 510 using the pallet support portions 520p and pallet support portion 520r.

[0067] As shown in FIGS. 3 and 7, the shelf board 510 has a second gripping portion 120B. The second gripping portion 120B corresponds to the gripping portion 120 described above and is configured to be grippable by the master hand 210. The second gripping portion 120B is provided at the center position of the shelf board 510 in the X-axis direction. The second gripping portion 120B protrudes in the Z-axis direction from the front surface of the shelf board 510 (horizontal frame 531). The second gripping portion 120B is provided below the pallet support portion 520 (tapered cone receiving portion 525). The second gripping portion 120B is provided detachably with respect to the shelf board 510.

[0068] The master hand 210 grips the second gripping portion 120B, allowing the robot 21 to transport the shelf board 510. The robot 21 changes the position of the shelf board 510 between the multiple support portions 560 in the pallet stocker 31. This change of position of the shelf board 510 using the robot 21 will be described in detail later.

[0069] 7, the pallet stocker 31 further has a fixed shelf 515. The fixed shelf 515 basically has the same structure as the shelf 510, but differs from the shelf 510 in that it is not provided with the second gripping portion 120B. The fixed shelf 515 cannot be moved between the multiple support portions 560, and its position in the pallet stocker 31 is fixed.

[0070] The pallet stocker 31 has two fixed shelves 515. The two fixed shelves 515 are arranged at the top and bottom of the pallet stocker 31. The shelves 510 can be repositioned within a range in the vertical direction between the fixed shelf 515 arranged at the top and the fixed shelf 515 arranged at the bottom.

[0071] 3, the work hand 310 is configured to be able to grip the work W. The work hand 310 has a pair of gripping claws 320. The pair of gripping claws 320 face each other with a gap therebetween.

[0072] The workpiece hand 310 is configured to be operable between a clamped state in which the workpiece W is gripped by the pair of gripping jaws 320, and an unclamped state in which the pair of gripping jaws 320 release the workpiece W. By sliding the pair of gripping jaws 320 in directions in which they approach each other, the workpiece hand 310 moves from the unclamped state to the clamped state. By sliding the pair of gripping jaws 320 in directions in which they move away from each other, the workpiece hand 310 moves from the clamped state to the unclamped state.

[0073] The workpiece hand 310 has a piston cylinder 330 and a servo motor 340 as a power source for sliding the pair of gripping jaws 320 (see FIG. 9 described later).

[0074] The workpiece hand 310 further has a third gripping portion 120C. The third gripping portion 120C corresponds to the gripping portion 120 described above, and is configured to be able to grip the master hand 210. The third gripping portion 120C has a grip shape that extends in a direction perpendicular to the sliding direction of the pair of gripping jaws 320. The third gripping portion 120C is provided detachably with respect to the workpiece hand 310.

[0075] The master hand 210 grips the third gripping portion 120C, thereby making it possible to attach the workpiece hand 310 to the robot 21. The robot 21 can transport the workpiece W using the workpiece hand 310.

[0076] The teaching hand 710 has a touch probe 720. The teaching hand 710 is used for teaching the robot 21 using the touch probe 720.

[0077] The teaching hand 710 further has a fourth gripping portion 120D. The fourth gripping portion 120D corresponds to the gripping portion 120 described above and is configured to be able to be held by the master hand 210. The touch probe 720 has a pin-shaped contactor 720g that comes into contact with the measurement object. The fourth gripping portion 120D has a grip shape that extends in a direction perpendicular to the direction in which the pin-shaped contactor 720g extends. The fourth gripping portion 120D is detachably provided to the teaching hand 710.

[0078] The teaching hand 710 can be attached to the robot 21 by the master hand 210 gripping the fourth gripping portion 120D.

[0079] The first gripping portion 120A, the second gripping portion 120B, the third gripping portion 120C, and the fourth gripping portion 120D have the same grip shape. The master hand 210 is configured to be able to selectively hold one of the gripping portions 120: the first gripping portion 120A, the second gripping portion 120B, the third gripping portion 120C, and the fourth gripping portion 120D.

[0080] Fig. 9 is a block diagram showing a control system of the transfer system in Fig. 1. Referring to Fig. 9, the transfer system 100 further includes a control device 610.

[0081] Each component of the control device 610 is realized by hardware including computing units such as a CPU (Central Processing Unit) and various computer processors, storage devices such as memory or storage, and wired or wireless communication lines connecting them, as well as software stored in the storage devices and supplying processing instructions to the computing units. The computer programs constituting the software may be composed of device drivers, an operating system, various application programs located at higher layers thereof, or libraries that provide common functions to these programs. The computer programs may be recorded on a computer-readable storage medium or a non-transitory computer-readable storage medium. The computer programs may be included in a computer program product. Each block described below represents a functional unit block.

[0082] The control device 610 has an operation receiving unit 660 and a robot control unit 620. The operation receiving unit 660 receives an operation from the worker via a display unit 670 (operation unit) formed of, for example, a touch panel display. The operation receiving unit 660 outputs a signal corresponding to the operation by the worker to the robot control unit 620.

[0083] The robot control unit 620 controls the operation of the robot 21 (including the operation of the workpiece hand 310 attached to the master hand 210).

[0084] The robot control unit 620 includes a program storage unit 621 , a program analysis unit 622 , an axis control unit 623 , a hand control unit 624 , and a parameter storage unit 625 .

[0085] The program storage unit 621 stores various operation programs 641 that command the operation of the robot 21. The operation programs 641 stored in the program storage unit 621 include, for example, operation commands that define the movement and stopping of the robot 21, position commands that define the position and orientation (posture) of the master hand 210, path commands that define movement paths such as linear movement and circular movement, and speed commands that define the movement speed. The operation programs 641 are input via an input / output device 630 connected to the robot control unit 620 and stored in the program storage unit 621.

[0086] The operation program 641 is written in, for example, a language called SLIM (Standard Language for Industrial Manipulators). The specific position and orientation (posture) of each position command included in the operation program 641 is obtained by operating the robot 21 through a manual operation called a teaching operation. As the robot 21 operates through the teaching operation, the rotation angle positions of each drive servo motor 23 built into the robot 21 are acquired as parameters, and the acquired parameters are stored in the parameter storage unit 625 via the input / output device 630.

[0087] In response to a signal from the operation receiving unit 660, the program analysis unit 622 reads out the operation program 641 to be executed from the operation program 641 stored in the program storage unit 621. The program analysis unit 622 analyzes the operation program 641, extracts commands related to movement, and transmits the commands to the axis control unit 623. The program analysis unit 622 analyzes the operation program 641, extracts commands related to hand operation, and transmits the commands to the hand control unit 624.

[0088] The axis control unit 623 controls the multiple drive servo motors 23 in response to commands from the program analysis unit 622. The hand control unit 624 controls the master hand 210 and / or the workpiece hand 310 in response to commands from the program analysis unit 622.

[0089] Specifically, the axis control unit 623 reads out parameters corresponding to each position command from the parameter storage unit 625, generates rotation commands (control signals) for each drive servo motor 23, and transmits them to each drive servo motor 23 so that the rotation angle position of each drive servo motor 23 becomes the read rotation angle position, the movement path of the master hand 210 becomes the commanded movement path (linear movement or circular movement), and further, moves at the commanded speed. The plurality of drive servo motors 23 move the master hand 210 to the commanded position by being supplied with drive currents corresponding to the rotation commands from the axis control unit 623.

[0090] In response to a command from the program analysis unit 622, the hand control unit 624 generates an open / close command for an air valve so that the pair of pistons 226 slides, and sends the open / close command to the clamp mechanism 220. In response to a command from the program analysis unit 622, the hand control unit 624 generates an open / close command for an air valve so that the pair of gripping jaws 320 slides, and sends the open / close command to the piston cylinder 330, and generates a rotation command (control signal) for the servo motor 340 and sends the rotation command to the servo motor 340.

[0091] Next, a specific example of how the robot 21 is used in the transport system 100 will be described. Figures 10 to 15 are top views showing steps in workpiece machining using a workpiece stocker. Figures 10 to 15 correspond to Figure 2.

[0092] Referring to Fig. 2, in an initial state, a plurality of pallets 410 are stored in the pallet stocker 31. A jig (not shown), such as a tombstone or a clamping device, is mounted on the pallets 410. Unmachined workpieces W are stored in the work stocker 71. A plurality of work hands 310 and a teaching hand 710 are stored in the hand stocker 81. The work hands 310 may have a pair of gripping jaws 320 that differ in shape or size among the plurality of work hands 310.

[0093] 9 and 10, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 stored in the pallet stocker 31.

[0094] In this step, the master hand 210 moves toward the pallet stocker 31 and is positioned so as to face the first gripping portion 120A of the pallet 410 in the Z-axis direction. As the master hand 210 moves in the Z-axis direction, the first gripping portion 120A is inserted into the grip insertion hole 221. The master hand 210 grips the first gripping portion 120A. As the master hand 210 moves upward, the pallet 410 is lifted from the shelf board 510.

[0095] 9 and 11, next, the control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 gripped by the master hand 210 moves to the processing area 12 of the machine tool 10.

[0096] In this step, the master hand 210 enters the processing area 12 and places the pallet 410 on a table (not shown). The pallet 410 is held to the table by a clamping mechanism built into the table. The master hand 210 releases the first gripping portion 120A and exits the processing area 12.

[0097] 9 and 12, next, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the third gripping portion 120C of the work hand 310 stored in the hand stocker 81.

[0098] In this step, the master hand 210 moves toward the hand stocker 81. The master hand 210 attaches the workpiece hand 310 to the robot 21 by gripping the third gripping portion 120C.

[0099] 9 and 13, next, the control device 610 (robot control unit 620) controls the robot 21 and the workpiece hand 310 so that the workpiece hand 310 grips the workpiece W.

[0100] In this step, the workpiece hand 310 moves toward the workpiece stocker 71. The workpiece hand 310 grips the unmachined workpiece W.

[0101] Referring to Figures 9 and 14, next, the control device 610 (robot control unit 620) controls the robot 21 and the work hand 310 so that the work W grasped by the work hand 310 is held by the pallet 410 arranged in the processing area 12 of the machine tool 10.

[0102] In this step, the workpiece hand 310 enters the processing area 12 and places the workpiece W on the jig on the pallet 410. The jig holds the workpiece W, and the workpiece hand 310 releases the workpiece W. The workpiece hand 310 exits the processing area 12. Following this step, the machine tool 10 processes the workpiece W in the processing area 12.

[0103] 9 and 15, next, the control device 610 (robot control section 620) controls the robot 21 and the workpiece hand 310 so as to store the machined workpiece W′ in the workpiece stocker 71.

[0104] In this step, the work hand 310 enters the processing area 12. The work hand 310 grips the processed workpiece W', and the jig on the pallet 410 releases the workpiece W'. The work hand 310 gripping the workpiece W' leaves the processing area 12 and moves toward the workpiece stocker 71. The work hand 310 places the workpiece W' in the workpiece stocker 71 and releases the workpiece W'. Through the above steps, work processing using the workpiece stocker 71 is completed.

[0105] 16 to 20 are top views showing steps in workpiece machining using the setup station, and correspond to FIG.

[0106] Referring to FIG. 2, the initial state is the same as that of the workpiece machining using the workpiece stocker 71 described above.

[0107] 9 and 16, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 stored in the pallet stocker 31. The control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 gripped by the master hand 210 moves to the setup station 61.

[0108] In this step, the master hand 210 moves toward the setup station 61 and places the pallet 410 on a pallet placement table (not shown) installed in the setup station 61. The master hand 210 releases the first gripping portion 120A. The master hand 210 exits the setup station 61.

[0109] 9 and 17, next, an operator sets the workpiece W on the pallet 410. In this step, the unmachined workpiece W is held on the pallet 410 using a jig on the pallet 410.

[0110] 9 and 18, next, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 arranged in the setup station 61.

[0111] 9 and 19, next, the control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 grasped by the master hand 210 moves to the processing area 12. Following this step, the machine tool 10 performs processing of the workpiece W in the processing area 12.

[0112] 9 and 20, next, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 arranged in the processing area 12. The control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 gripped by the master hand 210 moves to the setup station 61. Following this step, the worker removes the machined workpiece W' from the jig on the pallet 410. Through the above steps, workpiece processing using the setup station 61 is completed.

[0113] 21 to 23 are top views showing steps for inserting pallets into the pallet stocker. Figures 21 to 23 correspond to Figure 2.

[0114] 9 and 21, in an initial state, no pallet 410 is stored in pallet stocker 31. An operator places pallet 410 on a pallet placement table (not shown) in setup station 61.

[0115] 9 and 22, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 arranged in the setup station 61. The control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 gripped by the master hand 210 moves to the pallet stocker 31.

[0116] 9 and 22, next, the control device 610 (robot control unit 620) controls the robot 21 to place the pallet 410 gripped by the master hand 210 on the shelf board 510.

[0117] By repeating the above steps, a plurality of pallets 410 can be loaded into the pallet stocker 31.

[0118] Another use of the robot 21 in the transport system 100 is to change the position of the shelf board 510 in the pallet stocker 31. The following describes in detail how the robot 21 changes the position of the shelf board 510. Figure 24 is a front view showing the pallet stocker in Figure 7.

[0119] Referring to FIG. 24, pallet stocker 31 has a multi-tiered shelf structure consisting of multiple floors, namely "1st", "2nd", "3rd", "4th" and "5th".

[0120] Fixed shelves 515 are arranged on each of the lowest floors marked "1st" and the top floors marked "5th."

[0121] On the second-lowest floor, marked "2nd," support parts 560(2-1) and 560(2-2) are provided at an interval above and below. The robot 21 can move the shelf board 510 between the support parts 560(2-1) and 560(2-2).

[0122] On the middle floor marked "3rd," support parts 560(3-1), 560(3-2), and 560(3-3) are provided at intervals above and below. The robot 21 can move the shelf board 510 between support parts 560(3-1), 560(3-2), and 560(3-3).

[0123] On the second floor from the top, marked "4th," support parts 560(4-1) and 560(4-2) are provided at an interval above and below. The robot 21 can move the shelf board 510 between the support parts 560(4-1) and 560(4-2).

[0124] As an example, the spacing between support portion 560(2-1) and support portion 560(2-2) in the vertical direction is 100 mm, the spacing between support portion 560(3-1), support portion 560(3-2), and support portion 560(3-3) in the vertical direction is 100 mm, and the spacing between support portion 560(4-1) and support portion 560(4-2) in the vertical direction is 200 mm.

[0125] The intervals between the support parts 560 on each floor may be equal or unequal. The intervals between the support parts 560 on the first floor may be the same as or different from the intervals between the support parts 560 on the second floor. The intervals between the support parts 560 on adjacent floors may be greater than the intervals between the support parts 560 on each floor.

[0126] The current arrangement of the shelf boards 510 is such that on the "2nd" floor, the shelf boards 510 are supported by support part 560(2-1). On the "3rd" floor, the shelf boards 510 are supported by support part 560(3-3). On the "4th" floor, the shelf boards 510 are supported by support part 560(4-1). A pallet 410 measuring 400 mm x 400 mm is placed on the fixed shelf boards 515 and the shelves 510.

[0127] With such an arrangement of shelves 510, the maximum height of work that can be placed on each floor is 300 mm on the "1st" floor, 300 mm on the "2nd" floor, 200 mm on the "3rd" floor, 200 mm on the "4th" floor, and 400 mm on the "5th" floor.

[0128] For example, if shelf 510 is moved from support section 560(2-1) to support section 560(2-2) on the "2nd" floor, the maximum height of the work that can be placed on it will be 400 mm on the "1st" floor and 200 mm on the "2nd" floor.

[0129] As another example, if shelf board 510 is moved from support section 560(4-1) to support section 560(4-2) on the "4th" floor, and shelf board 510 is moved from support section 560(3-3) to support section 560(3-2) on the "3rd" floor, and shelf board 510 is removed on the "2nd" floor, the maximum height of the work that can be placed on it will be 600 mm on the "1st" floor and 600 mm on the "3rd" floor.

[0130] By changing the position of the shelf board 510 in this way, the maximum height of the workpieces that can be placed on the pallet 410 stored in the pallet stocker 31 can be freely adjusted.

[0131] Fig. 25 is a block diagram showing a control system for changing the positions of shelf boards in a pallet stocker. Fig. 26 is a flowchart showing the flow of changing the positions of shelf boards in a pallet stocker. Fig. 27 and Fig. 28 are views showing a position change screen on the display unit.

[0132] 24 to 28, control device 610 further includes a display control unit 650. Display control unit 650 controls screen display on display unit 670.

[0133] The worker performs an operation to activate the position change mode for the shelf board 510 via the display unit 670, which is a touch panel display. The operation acceptance unit 660 accepts the operation of the worker and outputs a signal corresponding to the operation to the display control unit 650. As a result, the display control unit 650 displays a screen 671 for changing the position of the shelf board 510, shown in FIG. 27, on the display unit 670.

[0134] As shown in FIG. 27, the position change screen 671 has a pallet stocker image section 680. The pallet stocker image section 680 corresponds to an image of the pallet stocker 31 when viewed in the Z-axis direction. The pallet stocker image section 680 may be an image that schematically shows the pallet stocker 31. In the initial screen of the position change screen 671, the current arrangement of the shelf boards 510 (as an example, the arrangement of the shelf boards 510 supported by each of the supports 560, namely, support section 560(2-1), support section 560(3-3), and support section 560(4-1)) is displayed in the pallet stocker image section 680. A first position display section 691 and a second position display section 692, which will be described later, are blank.

[0135] The positioning screen 671 further has a first operation section 681. The first operation section 681 is configured so that the floor on which the shelf board 510 is to be repositioned can be selected by operation by the worker. The first operation section 681 includes multiple tabs labeled "2nd," "3rd," and "4th." The "2nd" tab is displayed in a position corresponding to the "2nd" floor in the pallet stocker image section 680, the "3rd" tab is displayed in a position corresponding to the "3rd" floor in the pallet stocker image section 680, and the "4th" tab is displayed in a position corresponding to the "4th" floor in the pallet stocker image section 680.

[0136] The position change screen 671 further has a second operation section 682. The second operation section 682 is configured so that the operator can operate it to select the support section 560 after the movement of the shelf board 510 that is the target of the position change.

[0137] The second operation unit 682 includes a plurality of tabs labeled "2-1," "2-2," "3-1," "3-2," "3-3," "4-1," and "4-2," respectively. The plurality of tabs labeled "2-1," "2-2," "3-1," "3-2," "3-3," "4-1," and "4-2," respectively, are shown in positions in the pallet stocker image unit 680 corresponding to support unit 560(2-1), support unit 560(2-2), support unit 560(3-1), support unit 560(3-2), support unit 560(3-3), support unit 560(4-1), and support unit 560(4-2), respectively.

[0138] The position change screen 671 further includes a first position display section 691 and a second position display section 692.

[0139] The first position display section 691 displays the position of the shelf board 510 to be repositioned before it is moved. The second position display section 692 displays the position of the shelf board 510 to be repositioned after it is moved.

[0140] As the worker operates the first operation unit 681, the display control unit 650 identifies the floor that is the target of repositioning. The display control unit 650 displays the current position of the shelf board 510 on the identified floor on the first position display unit 691. In FIG. 27, as an example, it is assumed that the worker operates the "3rd" tab on the first operation unit 681. The display control unit 650 displays "3-3" on the first position display unit 691 as the current position of the shelf board 510 on the "3rd" floor.

[0141] As the worker operates the second operation unit 682, the display control unit 650 identifies the position of the shelf board 510 after it has been moved. The display control unit 650 displays the identified position of the shelf board 510 after it has been moved in the second position display unit 692. In FIG. 27, as an example, it is assumed that the worker operates the "3-1" tab in the second operation unit 682. The display control unit 650 displays "3-1" in the second position display unit 692 as the position of the shelf board 510 after it has been moved.

[0142] The position change screen 671 further includes a third operation section 693. The third operation section 693 is operated by the worker to start the process of changing the position of the shelf board 510.

[0143] 28, when the repositioning of the shelf board 510 is completed, the display control unit 650 updates the position of the shelf board 510 in the pallet stocker image area 680. In FIG. 27, the display control unit 650 causes the pallet stocker image area 680 to display the shelf board 510 supported by the support unit 560 (3-1).

[0144] 24 and 25, when the robot control unit 620 receives a command to change the position of the shelf board 510 from a first support unit 560A to a second support unit 560B among the multiple support units 560, the robot control unit 620 controls the robot 21 to move the shelf board 510 from the first support unit 560A to the second support unit 560B while grasping the shelf board 510 with the master hand 210. In FIG. 24, as an example, the support unit 560(3-3) corresponds to the first support unit 560A, and the support unit 560(3-1) corresponds to the second support unit 560B.

[0145] More specifically, when the worker operates the third operation unit 693, the operation acceptance unit 660 accepts the worker's operation and outputs a signal corresponding to the operation to the program analysis unit 622. The signal output to the program analysis unit 622 includes a signal for identifying the position of the shelf board 510 to be repositioned before and after the movement.

[0146] The program storage unit 621 stores various operation programs 641 that instruct the operation of the robot 21. The operation programs 641 include an operation program 641P for changing the position of a shelf board. The operation program 641P for changing the position of a shelf board instructs the operation of the robot 21 when changing the position of the shelf board 510, and is created for each combination of the position of the shelf board 510 before it is moved and the position of the shelf board 510 after it is moved.

[0147] The program analysis unit 622 receives a command to change the position of the shelf board 510 via a signal from the operation reception unit 660, and reads out the corresponding operation program 641P for changing the shelf board position from the program storage unit 621. The program analysis unit 622 analyzes the operation program 641P, extracts commands related to movement, and transmits the commands to the axis control unit 623. The program analysis unit 622 analyzes the operation program 641P, extracts commands related to the operation of the master hand 210, and transmits the commands to the hand control unit 624.

[0148] The axis control unit 623 controls the plurality of drive servo motors 23 in response to commands from the program analysis unit 622. The hand control unit 624 controls the master hand 210 in response to commands from the program analysis unit 622.

[0149] 3 to 5, 24 and 25, when the sensor 230 detects that the pallet 410 is not present on the shelf board 510, the robot control unit 620 changes the position of the shelf board 510.

[0150] More specifically, the shelf board repositioning operation program 641P includes a program for instructing the robot 21 to operate to detect the presence or absence of a pallet 410 on the shelf board 510 that is the target of repositioning. The program analysis unit 622 transmits commands based on the operation program to the axis control unit 623 and the hand control unit 624.

[0151] 24, a first position PA, a second position PB, and a third position PC are shown in the space above the shelf 510 supported by the support portion 560(3-3) that is the target of repositioning. As shown in FIGS. 3 and 24, the first position PA corresponds to the position where the pallet 410 is placed when the pallet 410 is placed on the pallet support portion 520p at the left end of the shelf 510. The second position PB corresponds to the position where the pallet 410 is placed when the pallet 410 is placed on the pallet support portion 520q at the center of the shelf 510. The third position PC corresponds to the position where the pallet 410 is placed when the pallet 410 is placed on the pallet support portion 520r at the right end of the shelf 510.

[0152] The axis control unit 623 controls the multiple drive servo motors 23 so that the sensor 230 is positioned opposite the first position PA in the Z-axis direction. The hand control unit 624 causes the sensor 230 to perform sensing. If the sensor 230 is a photoelectric sensor, light is emitted from the light-emitting unit of the sensor 230 toward the first position PA, and the reflected light is received by the light-receiving unit of the sensor 230. The sensor 230 outputs a signal corresponding to the amount of received light to the program analysis unit 622. The program analysis unit 622 determines whether the amount of received light exceeds a predetermined threshold based on the signal from the sensor 230. If the amount of received light exceeds the threshold, the program analysis unit 622 determines that the pallet 410 is present on the shelf board 510, and if the amount of received light is equal to or less than the threshold, it determines that the pallet 410 is not present on the shelf board 510.

[0153] The axis control unit 623 controls the multiple drive servo motors 23 so that the sensor 230 is positioned opposite the second position PB in the Z-axis direction. The hand control unit 624 causes the sensor 230 to perform the above-mentioned sensing. The axis control unit 623 controls the multiple drive servo motors 23 so that the sensor 230 is positioned opposite the third position PC in the Z-axis direction. The hand control unit 624 causes the sensor 230 to perform the above-mentioned sensing.

[0154] If the program analysis unit 622 determines through the above sensing that the pallet 410 is not present at any of the first position PA, the second position PB, and the third position PC, it continues the process of rearranging the shelf board 510. If the program analysis unit 622 determines through the above sensing that the pallet 410 is present at at least one of the first position PA, the second position PB, and the third position PC, it stops the process of rearranging the shelf board 510. In this case, the control device 610 may issue an alert to notify the operator of the presence of the pallet 410.

[0155] A description will be given of the flow of changing the position of the shelf boards 510 in the pallet stocker 31. With reference to Figures 25 to 28, when an operator operates to activate the position changing mode for the shelf boards 510, the control device 610 (display control unit 650) causes the display unit 670 to display a position changing screen 671 (S100).

[0156] Next, the control device 610 (robot control unit 620) receives a command to change the position of the shelf board 510 (S101).

[0157] In this step, the worker operates the first operation unit 681 on the position reordering screen 671 to specify the floor (shelf board 510) to be reordered, and operates the second operation unit 682 on the position reordering screen 671 to specify the position (support unit 560) after the shelf board 510 has been moved. The program analysis unit 622 receives a command to reorder the shelf board 510 by inputting a signal from the operation reception unit 660.

[0158] Next, the control device 610 (display control unit 650) causes the display unit 670 to display the positions of the shelf board 510 before and after the movement (S102).

[0159] In this step, the display control unit 650 displays the position of the shelf board 510 before the movement on the floor where the shelf board 510 is to be repositioned on the first position display unit 691, and displays the position of the shelf board 510 after the movement on the second position display unit 692.

[0160] Next, the control device 610 (robot control unit 620) starts the process of changing the position of the shelf board 510 (S103).

[0161] In this step, the worker operates the third operation unit 693 on the position change screen 671. The robot control unit 620 starts the process of changing the position of the shelf board 510 in response to the operation of the third operation unit 693 by the worker.

[0162] Next, the control device 610 (robot control unit 620) controls the robot 21 and the sensor 230 so that sensing is performed by the sensor 230 (S104).

[0163] In this step, the program analysis unit 622 controls the robot 21 and the sensor 230 so that the sensor 230 is positioned opposite the first position PA, the second position PB, and the third position PC in the Z-axis direction, in that order, and so that sensing is performed by the sensor 230 at each of the first position PA, the second position PB, and the third position PC.

[0164] Next, the control device 610 (robot control unit 620) determines whether or not a pallet 410 exists on the shelf board 510 that is the target of the repositioning (S105).

[0165] If the control device 610 determines in step S105 that a pallet 410 is present at at least one of the first position PA, the second position PB, and the third position PC on the shelf 510, it issues an alert to notify the worker of the presence of the pallet 410 (S106).

[0166] In this step, the display control unit 650 may cause the display unit 670 to display a comment indicating that the pallet 410 is present on the shelf board 510 that is the target of repositioning. After the worker causes the robot 21 to perform the task of removing the pallet 410 from the shelf board 510, the worker starts step SS101 again.

[0167] If the control device 610 (robot control unit 620) determines in step S105 that the pallet 410 is not present at any of the first position PA, the second position PB, and the third position PC on the shelf 510, it repositions the shelf 510 (S107).

[0168] In this step, the master hand 210 moves toward the pallet stocker 31 and is positioned in the Z axis direction so as to face the second gripping portion 120B of the shelf board 510 that is the target of repositioning. As the master hand 210 moves in the Z axis direction, the second gripping portion 120B is inserted into the grip insertion hole 221. The master hand 210 grips the second gripping portion 120B. As the master hand 210 moves upward, the shelf board 510 is lifted from the first support portion 560A. The master hand 210 moves in the Z axis direction so that the shelf board 510 retreats from the space above the first support portion 560A.

[0169] The master hand 210 moves in the Y-axis direction. The master hand 210 moves in the Z-axis direction so that the shelf board 510 advances into the space above the second support portion 560B. As the master hand 210 moves downward, the shelf board 510 is placed on the second support portion 560B. The master hand 210 releases the second gripping portion 120B. As the master hand 210 moves in the Z-axis direction, the second gripping portion 120B retracts from the grip insertion hole 221.

[0170] Next, the control device 610 (display control unit 650) updates the position of the shelf board 510 in the pallet stocker image area 680 (S108). Through the above steps, the repositioning of the shelf board 510 is completed.

[0171] To summarize the configuration of the transport system 100 according to the embodiment of the present invention as described above, the transport system 100 according to the present embodiment includes a robot 21 having a master hand 210, a pallet 410 for holding a workpiece W, a shelf 510 on which the pallet 410 is placed, and a workpiece hand 310 capable of gripping the workpiece W. The pallet 410 has a first gripping portion 120A that can be gripped by the master hand 210. The shelf 510 has a second gripping portion 120B that can be gripped by the master hand 210. The workpiece hand 310 has a third gripping portion 120C that can be gripped by the master hand 210.

[0172] According to this configuration, the master hand 210 grips the first gripper 120A, allowing the robot 21 to transport the pallet 410, the master hand 210 grips the second gripper 120B, allowing the robot 21 to transport the shelf board 510, and the master hand 210 grips the third gripper 120C, allowing the robot 21 to transport a workpiece. This increases the number of uses for the robot 21, and broadens the scope of automation in the transport system 100.

[0173] The conveying system 100 also includes a pallet stacker 31 for storing pallets 410, which has a shelf 510 and a plurality of support sections 560 spaced apart in the vertical direction, each capable of supporting the shelf 510, and a robot control section 620 that receives a command to reposition the shelf 510 from a first support section 560A to a second support section 560B among the plurality of support sections 560, and controls the robot 21 to move the shelf 510 from the first support section 560A to the second support section 560B in accordance with the command while gripping the second gripping section 120B with the master hand 210.

[0174] According to this configuration, by using the robot 21, it is possible to automate the repositioning of the shelf boards 510 in the pallet stocker 31. In particular, in this embodiment, since workers cannot access the pallet stocker 31 from outside the space 113, the automation using the robot 21 makes it possible to easily and safely reposition the shelf boards 510.

[0175] The transport system 100 also includes a robot base 22 that supports the robot 21, a work stocker 71 for storing the workpieces W, a machine tool 10, and a setup station 61 that is provided at a position away from the machine tool 10 and that is used to attach and detach the workpieces W to and from the pallet 410. The pallet stocker 31, the workpiece stocker 71, the machine tool 10, and the setup station 61 are installed around the robot base 22.

[0176] According to this configuration, the robot 21 can be used to efficiently transport the workpieces W and / or pallets 410 between the pallet stocker 31, the workpiece stocker 71, the machine tool 10 and the setup station 61.

[0177] The transfer system 100 further includes a teaching hand 710 to which a touch probe 720 is attached. The teaching hand 710 has a fourth gripping portion 120D that can be gripped by the master hand 210.

[0178] According to this configuration, the teaching hand 710 can be attached to the master hand 210 by the master hand 210 gripping the fourth gripping portion 120D.

[0179] The first gripping portion 120A, the second gripping portion 120B, and the third gripping portion 120C have the same grip shape. With this configuration, the master hand 210 can reliably grip any of the gripping portions 120, namely the first gripping portion 120A, the second gripping portion 120B, and the third gripping portion 120C.

[0180] The transport system 100 in this embodiment also includes a robot 21 having a master hand 210, a pallet 410 for holding the workpiece W, and a shelf board 510 on which the pallet 410 is placed. The pallet 410 has a first gripping portion 120A that can be gripped by the master hand 210. The shelf board 510 has a second gripping portion 120B that can be gripped by the master hand 210.

[0181] The transport system 100 in this embodiment also includes a robot 21 having a master hand 210, a shelf board 510 on which a pallet 410 is placed, and a workpiece hand 310 capable of gripping a workpiece W. The shelf board 510 has a second gripping portion 120B that can be gripped by the master hand 210. The workpiece hand 310 has a third gripping portion 120C that can be gripped by the master hand 210.

[0182] With this configuration, the uses of the robot 21 can be increased, and the range of automation in the transport system 100 can be expanded.

[0183] Furthermore, robot 21 in this embodiment has first gripper 120A and is capable of transporting pallet 410 for holding workpiece W to shelf 510 having second gripper 120B on which pallet 410 is placed. Robot 21 includes first arm 27, second arm 28 rotatably attached to first arm 27, and master hand 210 rotatably attached to second arm 28, capable of gripping first gripper 120A and capable of gripping second gripper 120B. Robot 21 transports pallet 410 with first gripper 120A gripped by master hand 210.

[0184] Furthermore, robot 21 in this embodiment has first gripper 120A and is capable of transporting pallet 410 for holding workpiece W to shelf 510 for placing pallet 410, and has second gripper 120B, and is capable of transporting pallet 410 to machine tool 10. Robot 21 includes master hand 210 that can grip first gripper 120A and second gripper 120B.

[0185] Furthermore, robot 21 in this embodiment has first gripper 120A and is capable of transporting pallet 410 for holding workpiece W to shelf 510 for placing pallet 410, and has second gripper 120B, and is capable of transporting workpiece W to machine tool 10. Robot 21 includes master hand 210 that can grip first gripper 120A and second gripper 120B.

[0186] Furthermore, the robot 21 in this embodiment has a first gripper 120A and is capable of transporting a pallet 410 for holding a workpiece W to a shelf 510 having a second gripper 120B on which the pallet 410 is placed. The robot 21 is equipped with a master hand 210 that can grip the first gripper 120A and the second gripper 120B. Each of the grippers 120 of the first gripper 120A and the second gripper 120B has a grip shape centered on a central axis 126. The master hand 210 has a clamp mechanism 220 that holds each gripper 120 by applying a force to each gripper 120 in a radially inward direction of the central axis 126.

[0187] With this configuration, the uses of the robot 21 can be increased, and the scope of automation can be widened.

[0188] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0189] 10, 10S, 10T machine tool, 12 processing area, 14 cover body, 16 opening, 18 operation panel, 21 robot, 22 robot base, 23 drive servo motor, 26 base part, 27 first arm, 28 second arm, 29 hand attachment part, 31, 31S, 31T pallet stocker, 51 transport operation panel, 56, 56h, 56i, 56j, 56k fence, 61, 61S, 61T setup station, 71 work stocker, 81 hand stocker, 100 transport system, 101 turning center axis, 102, 103, 105 rotation center axis, 104, 106 rotation center axis, 113 space, 120 gripping part, 120A first gripping part, 120B second gripping part, 120C Third gripping unit, 120D, fourth gripping unit, 121, groove, 126, 231, central axis, 210, master hand, 220, clamping mechanism, 221, grip insertion hole, 226, piston, 227, protrusion, 230, sensor, 310, work hand, 320, gripping jaw, 330, piston cylinder, 340, servo motor, 410, pallet, 510, shelf, 515, fixed shelf, 520, 520p, 520q, 520r, pallet support unit, 525, tapered cone receiving unit, 531, horizontal frame, 532, vertical frame, 533, pin hole, 550, frame body, 551, column, 560, support unit, 560A, first support unit, 560B, second support unit, 561, plate, 610, control unit, 620, robot control unit, 621 Program memory unit, 622 program analysis unit, 623 axis control unit, 624 hand control unit, 625 parameter memory unit, 630 input / output device, 641, 641P operation program, 650 display control unit, 660 operation acceptance unit, 670 display unit, 671 position change screen, 680 pallet stocker image unit, 681 first operation unit, 682 second operation unit, 691 first position display unit, 692 second position display unit, 693 third operation unit, 710 teaching hand, 720 touch probe, 720g contactor, PA first position, PB second position, PC third position, W workpiece.

Claims

1. a robot having a master hand; a pallet for holding the workpiece; A shelf board on which the pallet is placed; a workpiece hand capable of gripping the workpiece, the pallet has a first gripping portion that can be gripped by the master hand, the shelf board has a second gripping portion that can be gripped by the master hand, The workpiece hand has a third gripping portion that can be gripped by the master hand.

2. a pallet stocker for storing the pallets, the pallet stocker having the shelf board and a plurality of support parts arranged at intervals in the vertical direction, each of which can support the shelf board; The conveying system of claim 1, further comprising a robot control unit that controls the robot to receive a command to reposition the shelf board from a first support unit to a second support unit among the plurality of support units, and to move the shelf board from the first support unit to the second support unit in accordance with the command while gripping the second gripping unit with the master hand.

3. a robot base that supports the robot; a work stocker for storing the work; Machine tools and a setup station provided at a position remote from the machine tool for performing an operation of attaching and detaching a workpiece to and from the pallet, The transport system according to claim 2 , wherein the pallet stocker, the work stocker, the machine tool, and the setup station are installed around the robot base.

4. Further provided is a teaching hand to which a touch probe is attached, The transfer system according to claim 1 or 2, wherein the teaching hand has a fourth gripping portion that can be gripped by the master hand.

5. The transport system according to claim 1 or 2, wherein the first gripping portion, the second gripping portion, and the third gripping portion have the same grip shape.

6. A robot having a first gripping unit and capable of transporting a pallet for holding a workpiece to a shelf having a second gripping unit and on which the pallet is to be placed, A first arm; a second arm attached to the first arm so as to be rotatable relative to the first arm; a master hand that is rotatably attached to the second arm, that is capable of gripping the first gripping portion, and that is capable of gripping the second gripping portion; The robot transports the pallet in a state where the first gripping portion is gripped by the master hand.

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