Component Transfer System

Abstract

To convey parts among a plurality of robots while suppressing turbulence of a flow of air in a clean room.SOLUTION: A part conveyance system 10 for conveying parts P in a clean room CR has: a tray 16 on which the plurality of parts P are mounted; a first robot 12 for holding the tray 16 and changing the position and the attitude of the tray 16; and a second robot 14 having an end effector 20 for picking the parts P on the tray 16. The first robot 12 moves the tray 16 and places a part Pt to be picked onto the end effector 20 of the second robot 14, and the end effector 20 picks the placed part Pt to be picked.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a component transfer system for transferring components within a clean room.

Background Art

[0002] For example, Patent Document 1 discloses a component transfer system for transferring components between a plurality of robots. Specifically, one robot grips a cage that houses a plurality of components, and the other robot picks the components in the cage.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when transferring components between a plurality of robots in a clean room, the air flow in the clean room may be greatly disturbed by the operation of the robots. For example, the laminar flow of air that continuously flows in a certain direction to maintain a constant cleanliness may be greatly disturbed. As a result, it may become impossible to guarantee the quality such as the cleanliness of the components.

[0005] Therefore, an object of the present disclosure is to transfer components between a plurality of robots while suppressing the disturbance of the air flow in a clean room.

Means for Solving the Problems

[0006] In order to solve the above technical problems, according to one aspect of the present disclosure, a component transfer system for transferring components within a clean room, a tray on which a plurality of components are placed, A first robot that holds the tray and changes the position and orientation of the tray, and a second robot including an end effector that picks up parts on the tray. The component transfer system has, The second robot stops with the end effector maintained in a picking posture in which a component to be picked can be picked, wherein the first robot moves the tray and places the part to be picked up on the end effector of the second robot, the and the end effector picks up the part to be picked up that has been placed thereon. A component transfer system is provided. and arranges the component to be picked at a picking position where the component to be picked can be picked without the end effector changing its position and posture. 、

Advantages of the Invention

[0007] According to the present disclosure, in a clean room, components can be transferred between a plurality of robots while suppressing disturbances in the air flow.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 4D

Figure 5

Embodiments for Carrying Out the Invention

[0009] ​A component transfer system according to one aspect of the present disclosure is a component transfer system that transfers components within a clean room, and includes a tray on which a plurality of components are placed, a first robot that holds the tray and changes the position and orientation of the tray, and a second robot including an end effector that picks up the components on the tray. The first robot moves the tray to apply a component to be picked up to the end effector of the second robot, and the end effector picks up the applied component to be picked up.

[0010] According to such an aspect, in a clean room, components can be transferred between a plurality of robots while suppressing disturbance of the air flow.

[0011] For example, the first robot and the second robot may operate so that only the end effector enters a region above the tray.

[0012] For example, the second robot stops while maintaining the end effector in a picking posture in which the component to be picked up can be picked up, and the first robot arranges the component to be picked up at a picking position where the component to be picked up can be picked up without changing the position and orientation of the end effector.

[0013] For example, when the plurality of components are placed on the tray in random positions and random orientations, the component transfer system includes a camera that photographs the plurality of components on the tray, A component state detection unit that detects the position and orientation of each of the plurality of components based on the captured image of the camera; a picking target determination unit that determines the component to be picked based on the position and orientation detected by the component state detection unit; and a picking posture calculation unit that calculates the picking posture that enables the end effector to pick the component determined by the picking target determination unit may be further provided. In this case, after the second robot stops while maintaining the end effector in the picking posture calculated by the picking posture calculation unit, the first robot places the component to be picked determined by the picking target determination unit at the picking position.

[0014] For example, when the picking posture is a predetermined picking posture and the plurality of components are placed on the tray in random positions and random orientations, the component transfer system includes a camera that captures the plurality of components on the tray, a component state detection unit that detects the position and orientation of each of the plurality of components based on the captured image of the camera, and a picking target determination unit that determines, based on the position and orientation detected by the component state detection unit, the component that can be picked by the end effector in the predetermined picking posture as the component to be picked. In this case, after the second robot stops while maintaining the end effector in the predetermined picking posture, the first robot places the component to be picked determined by the picking target determination unit at the picking position.

[0015] For example, the picking target determination unit may determine the component placed on the outer portion of the tray as the component to be picked.

[0016] For example, the end effector may be a suction nozzle that picks up the component by suction. In this case, the picking posture is such that the suction nozzle has its nozzle tip positioned above the tray and its base extending outside the tray from above.

[0017] For example, after the end effector picks up the component to be picked, the first robot may move the tray to a tray retraction position that does not vertically overlap with the second robot and the end effector. In this case, after the tray is moved to the tray retraction position, the second robot moves the component to be picked that is being held by the end effector.

[0018] For example, the clean room may be a clean room in which laminar flow is generated with air flowing downward in the vertical direction.

[0019] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0020] FIG. 1 is a schematic diagram of a component transfer system according to an embodiment of the present disclosure installed in a clean room. FIG. 2 is a block diagram showing a control system of the component transfer system.

[0021] Note that the X - Y - Z orthogonal coordinate system shown in the drawings is for facilitating understanding of the present disclosure and does not limit the embodiments of the present disclosure. In this X - Y - Z orthogonal coordinate system, the X - axis direction and the Y - axis direction indicate the horizontal direction, and the Z - axis direction indicates the vertical direction. Also, in the present embodiment, the X - Y - Z orthogonal coordinate system is a reference coordinate system set for the space within the clean room.

[0022] As shown in FIG. 1, the component transfer system 10 according to the present embodiment is a system for transferring the component P, and is a system for transferring the component P within the clean room CR.

[0023] In order to maintain a uniform and constant cleanliness inside the clean room CR, a laminar flow LF of uniform air is generated in the clean room CR. In the case of this embodiment, a laminar flow LF (dashed arrow) in which air flows downward in the vertical direction (Z-axis direction) is generated. Note that the cleanliness of a clean room is defined by, for example, the number of particles per unit volume in the ISO standard.

[0024] As shown in FIGS. 1 and 2, the component transfer system 10 includes a first robot 12, a second robot 14, and a control device 50 that controls them. In the case of this embodiment, the component P is transferred from the first robot 12 to the second robot 14.

[0025] The first robot 12 is a so-called articulated robot and includes, for example, six indirect axes C1 to C6. Further, the first robot 12 holds a tray 16 on which a plurality of components P are placed. In the case of this embodiment, the first robot 12 detachably holds the tray 16 via a chuck 18 which is an end effector attached to the mechanical interface 12a at the tip thereof. Note that, in the case of this embodiment, the tray 16 is held by the mechanical interface 12a via the chuck 18 such that the center line of the tray 16 which extends in a direction orthogonal to the mounting surface 16a of the tray 16 and passes through the center of the mounting surface 16a coincides with the indirect axis C6. The first robot 12 changes the position (X coordinate, Y coordinate, Z coordinate) and orientation (rotation angle about the X axis, rotation angle about the Y axis, rotation angle about the Z axis) of the tray 16 in a reference coordinate system (X - Y - Z orthogonal coordinate system) using the six indirect axes C1 to C6 as will be described later.

[0026] In the case of this embodiment, by way of the chuck 18, the first robot 12 detachably holds the tray 16. A tray 16 on which a plurality of parts P are placed on the placement surface 16a is supplied to the first robot 12 by a tray transfer device (not shown). Alternatively, the tray 16 may be directly fixed to the mechanical interface 12a of the first robot 12, and a plurality of parts P may be supplied onto the placement surface 16a of the tray 16.

[0027] The second robot 14 is a so-called articulated robot and includes, for example, six indirect axes C7 to C12. Further, the second robot 14 picks up the part P on the tray 16 via an end effector 20 attached to the mechanical interface 14a at its tip. In the case of this embodiment, the end effector 20 is a suction nozzle that picks up the part P by suction. Using the six indirect axes C7 to C12, the second robot 14 changes the position (X coordinate, Y coordinate, Z coordinate) and orientation (rotation angle around the X axis, rotation angle around the Y axis, rotation angle around the Z axis) of the suction nozzle 20 in a reference coordinate system (X-Y-Z orthogonal coordinate system) as will be described later. Thereby, the second robot 14 picks up a plurality of parts P on the tray 16 of the first robot 12 and transports them to the work place of the subsequent process. Note that the second robot 14 may be the same as or different from the first robot 12.

[0028] Although details will be described later, by being controlled by the control device 50, the first robot 12 moves the tray 16 to apply the part Pt to be picked up to the suction nozzle 20 of the second robot 14, and the suction nozzle 20 of the second robot 14 picks up the applied part Pt to be picked up.

[0029] In the case of this embodiment, as shown in FIG. 1, a plurality of parts P are placed on the tray 16 at random positions and in random orientations. In order to determine the part Pt to be picked up from such a plurality of parts P, the part transfer system 10 has a camera 22 that photographs the plurality of parts P on the tray 16.

[0030] The camera 22 photographs a plurality of components P on the placement surface 16a of the tray 16. The camera 22 transmits a photographed image (data) in which the plurality of components P are shown to the control device 50.

[0031] As shown in FIG. 2, the control device 50 includes a first robot control unit 52 that controls the first robot 12, a second robot control unit 54 that controls the second robot 14, a component state detection unit 56 that detects the states of the plurality of components P based on the photographed image of the camera 22, a picking target determination unit 58 that determines a component Pt to be picked based on the detection result of the component state detection unit 56, a picking posture calculation unit 60 that calculates a picking posture of the suction nozzle 20 capable of picking the component Pt to be picked determined by the picking target determination unit 58, and a suction nozzle control unit 62 that controls the start / stop of suction of the suction nozzle 20.

[0032] The control device 50 is composed of, for example, a CPU and a storage device such as a hard disk that records a program for operating the CPU. By operating according to the program, the CPU functions as at least the first robot control unit 52, the second robot control unit 54, the component state detection unit 56, the picking target determination unit 58, the picking posture calculation unit 60, and the suction nozzle control unit 62.

[0033] The component state detection unit 56 of the control device 50 detects the position and orientation of each of the plurality of components P on the tray 16 based on the captured image transmitted from the camera 22 and showing the plurality of components P. For example, shape data (e.g., three-dimensional shape data) of the component P is stored in advance in the storage device of the control device 50, and based on the shape data, the component state detection unit 56 detects the position and orientation of each of the plurality of components P in the captured image. Based on the position and orientation of the component P in the captured image, the component state detection unit 56 specifies the position and orientation of each of the plurality of components P with respect to the tray 16. Then, the component state detection unit 56 calculates the position and orientation of the tray 16 in the reference coordinate system (X-Y-Z orthogonal coordinate system) from the states of the actuators of the respective indirect axes C1 to C6 of the first robot 12, and based on the calculated position and orientation of the tray 16, calculates the position and orientation of each of the plurality of components P in the reference coordinate system.

[0034] Based on the position and orientation of each of the plurality of components P on the tray 16 detected by the component state detection unit 56, the picking target determination unit 58 of the control device 50 determines the component P that can be picked up by the suction nozzle 20 of the second robot 14 as the picking target component Pt. For example, a component buried under other components P does not correspond to a pickable component. Also, for example, a component that cannot be picked up regardless of the orientation of the suction nozzle 20 does not correspond to a pickable component. Furthermore, the following preconditions are set to determine the picking target component Pt.

[0035] FIG. 3 is a diagram showing the area above the tray set to determine the picking target component.

[0036] As shown in FIG. 3, first, as a precondition, a component P that can be picked up by the suction nozzle 20 of the second robot 14 with the generation of disturbance of the laminar flow LF in the area R above the tray 16 suppressed to the minimum possible extent is determined as the picking target component Pt.

[0037] When turbulence occurs in the laminar flow LF in the region R above the tray 16, the cleanliness of the space around the plurality of components P on the tray 16 changes. As a result, it may become impossible to guarantee the quality such as cleanliness for the component P. Therefore, the operation of the second robot 14 in the region R above the tray 16 is restricted.

[0038] In the case of this embodiment, only the suction nozzle 20 can enter the region R, and the entry of a part of the second robot 14 such as the mechanical interface 14a into the region R is restricted. That is, the suction nozzle 20 necessary for picking up the component P is permitted to move above the tray 16. On the other hand, the movement of the mechanical interface 14a, whose projected area on the mounting surface 16a of the tray 16 is larger than that of the suction nozzle 20, above the tray 16 is not permitted. Thereby, the turbulence of the laminar flow LF in the region R above the tray 16 is suppressed. Here, the suction nozzle 20 preferably has a shape and dimensions (such as diameter) that can minimize the generation of turbulence in the laminar flow LF.

[0039] For this purpose, the picking target determination unit 58 determines the component P that can be picked up by the suction nozzle 20 without a part of the second robot 14 such as the mechanical interface 14a entering the region R as the component Pt to be picked. For example, the picking target determination unit 58 determines the component Pt that can be picked by the suction nozzle 20 in a posture where the nozzle tip 20a is located above the tray 16 and the base 20b (that is, the portion connected to the mechanical interface 14a) is outside the upper side of the tray 16 as the component P to be picked. When there are a plurality of pickable components Pt, the component Pt with the smallest entry distance of the nozzle tip into the region R may be preferentially determined as the component Pt to be picked. Also, a component P that can only be picked with the suction nozzle 20 extending downward is determined not to correspond to the component to be picked because a part of the second robot 14 such as the mechanical interface 14a will be present above the tray 16 during the picking.

[0040] Considering picking the component P placed at the central portion of the placement surface 16a of the tray 16, it is preferable that the length of the suction nozzle 20 (the distance from the mechanical interface 14a to the nozzle tip 20a) is long. When the length of the suction nozzle 20 is restricted, for example, when the length of the suction nozzle 20 is restricted by the work content of the subsequent process where the second robot 14 has transported the component P to, the picking target determination unit 58 may determine the component P placed at the outer portion of the tray 16 as the component Pt to be picked.

[0041] The picking posture calculation unit 60 of the control device 50 calculates the picking posture of the suction nozzle 20 capable of picking the component Pt to be picked determined by the picking target determination unit 58. At this time, as shown in FIG. 3, the picking posture calculation unit 60 calculates a picking posture in which the nozzle tip 20a is positioned above the tray 16 and the base 20b can be disengaged from above the tray 16 when picking the component Pt to be picked. The picking posture calculation unit 60 calculates, for example, a picking posture in which the suction nozzle 20 extends obliquely downward or horizontally toward above the tray 16.

[0042] Note that the picking posture calculation unit 60 of the control device 50 may calculate the picking postures of the components Pt to be picked respectively based on the positions and postures of the plurality of components P detected from a single captured image.

[0043] The suction nozzle control unit 62 of the control device 50 controls the suction start / suction stop of the suction nozzle 20. Thereby, the suction nozzle 20 picks the component Pt to be picked or releases the component Pt being picked.

[0044] Hereinafter, an example will be given and described regarding the operation of the component transfer system 10, that is, the transfer of the component P from the first robot 12 to the second robot 14.

[0045] FIG. 4A is a diagram showing one step of part transfer from the first robot to the second robot. Further, FIG. 4B is a diagram showing a step following the step shown in FIG. 4A. Furthermore, FIG. 4C is a diagram showing a step following the step shown in FIG. 4B. And FIG. 4D is a diagram showing a step following the step shown in FIG. 4C.

[0046] First, the first robot 12 grips a tray 16 on which a plurality of parts P are placed. Then, as shown in FIG. 4A, under the control of the first robot control unit 52 of the control device 50, the first robot 12 is moved so that the tray 16 enters the imaging range of the camera 22. Then, the camera 22 images a plurality of parts P on the tray 16 (part imaging operation).

[0047] When the camera 22 images a plurality of parts P, based on the captured image, the part state detection unit 56 of the control device 50 detects the position and orientation of each of the plurality of parts P.

[0048] Next, as shown in FIG. 4B, based on the position and orientation of each of the plurality of detected parts P, the picking target determination unit 58 of the control device 50 determines a picking target part Pt from among the plurality of parts P on the tray 16 (picking target determination operation). Also, under the control of the second robot control unit 54, the second robot 14 changes the posture of the suction nozzle 20 to the picking posture calculated by the picking posture calculation unit 60 (picking posture change operation). That is, the posture of the suction nozzle 20 is changed to a picking posture in which the picking target part Pt can be picked and the nozzle tip 20a is positioned above the tray 16 and the base 20b is removed from above the tray 16. After the change of the posture, the second robot 14 stops.

[0049] Subsequently, as shown in FIG. 4C, under the control of the first robot control unit 52 of the control device 50, the first robot 12 moves the tray 16 and applies the component Pt to be picked to the suction nozzle 20 of the stationary second robot 14 (tray movement operation). Specifically, the first robot 12 places the component Pt to be picked at a picking position Lp where the suction nozzle 20 stopped in the picking posture calculated by the picking posture calculation unit 60 can perform picking without changing its position and posture. In the case of this embodiment, the picking position Lp is located in front of the nozzle tip 20a of the suction nozzle 20. This picking position Lp can be calculated based on the position of the nozzle tip 20a of the suction nozzle 20. Also, when placing the component Pt to be picked at the picking position Lp, the first robot 12 moves the tray 16 so that the tray 16 does not pass under a part of the second robot 14 such as the mechanical interface 14a. After the movement of the tray 16 is completed, under the control of the suction nozzle control unit 62 of the control device 50, the suction nozzle 20 sucks and picks the component Pt at the picking position Lp (component picking operation).

[0050] When the picking of the component Pt is completed, as shown in FIG. 4D, under the control of the first robot control unit 52 of the control device 50, the first robot 12 retracts the tray 16 to a position where it does not overlap the suction nozzle 20 and the second robot 14 in the vertical direction (Z-axis direction) (tray retraction operation). Thereafter, the second robot control unit 54 causes the second robot 14 to move the component Pt picked by the suction nozzle 20 to the work location of the subsequent process (component transfer operation).

[0051] According to FIGS. 4A to 4D as described above, in the conveyance of the component P from the first robot 12 to the second robot 14, only the suction nozzle 20 enters the region R above the tray 16. Thereby, the disturbance of the laminar flow LF of the air above the tray 16 can be minimized. As a result, the quality such as cleanliness of the plurality of components P on the tray 16 can be guaranteed.

[0052] Further, as shown in FIG. 4B, before being disposed above the tray 16, the suction nozzle 20 is changed to a picking posture capable of sucking the component Pt to be picked. Thereby, as shown in FIG. 4C, the suction nozzle 20 can pick the component Pt to be picked disposed at the picking position Lp without changing its posture above the tray 16. That is, since the suction nozzle 20 does not change its position and posture above the tray 16, the component Pt can be picked without substantially disturbing the laminar flow LF of the air above the tray 16. As a result, the quality such as cleanliness of the plurality of components P on the tray 16 can be guaranteed.

[0053] Furthermore, as shown in FIGS. 4B and 4C, the tray 16 moves, and the component Pt to be picked on the tray 16 is applied to the suction nozzle 20 of the second robot 14 that is stopped. Since the second robot 14 is stopped, the laminar flow LF around the suction nozzle 20 flows without being disturbed. Therefore, the tray 16 can move to the suction nozzle 20 through the undisturbed laminar flow LF. As a result, the quality such as cleanliness of the plurality of components P on the tray 16 can be guaranteed.

[0054] By repeating the picking target determination operation and the picking posture change operation shown in FIG. 4B, the tray movement operation and the component picking operation shown in FIG. 4C, and the tray retraction operation and the component conveyance operation shown in FIG. 4D, the second robot 14 can convey the plurality of components P on the tray 16 to the work place of the subsequent process.

[0055] Note that, finally, in the picking posture in which the generation of turbulence in the laminar flow LF in the region R above the tray 16 is suppressed to the minimum possible extent, that is, in the picking posture in which the nozzle tip 20a is positioned above the tray 16 and the base 20b is out of the upper side of the tray 16, there may be a case where the component P that cannot be picked by the suction nozzle 20 remains on the tray 16. In this case, the first robot 12 performs an operation for changing the position and posture of the component P on the tray 16, such as causing the tray 16 to reciprocate by swinging or applying vibration by vibration excitation, etc. Then, the camera 22 photographs the component P on the tray 16 again. And based on the photographed image, a new component Pt to be picked is determined, and picking is continued. And as a result of repeating the above-described operation, when a sufficient number of components P as picking targets have disappeared from the tray 16, the first robot 12 moves the tray 16 to a predetermined position of a component supply device (not shown), where the component P is replenished, and then the above-described operation is performed again.

[0056] According to the present embodiment as described above, in the clean room, components can be transported between a plurality of robots while suppressing the turbulence of the air flow.

[0057] The present disclosure has been described above by way of the above-described embodiments, but the embodiments of the present disclosure are not limited to these.

[0058] For example, in the case of the above-described embodiment, as shown in FIGS. 4A to 4D, the tray 16 is translated in a state where its mounting surface 16a faces in the vertical direction (Z-axis direction) (horizontal posture). However, the embodiments of the present disclosure are not limited to this.

[0059] FIG. 5 is a diagram showing another example of the component picking operation.

[0060] As shown in FIG. 5, the first robot 12 may apply the component Pt to be picked on the tray 16 to the suction nozzle 20 of the second robot 14 in a state where the tray 16 is tilted from the horizontal posture. In this case, it is preferable to form an uneven surface such as a groove on the mounting surface 16a of the tray 16 as an anti-slip measure so that the component P on the tilted tray 16 does not move. Alternatively, the tray 16 may be a suction tray in which a plurality of suction holes for sucking air are formed on the mounting surface, thereby sucking the component P.

[0061] Also, in the case of the above-described embodiment, the end effector of the second robot 14 that picks the component P is the suction nozzle 20, but the embodiment of the present disclosure is not limited to this. The end effector of the second robot 14 that picks the component P may be, for example, a gripper having a plurality of claws and picking the component P by sandwiching the component P with the plurality of claws.

[0062] Furthermore, in the case of the above-described embodiment, as shown in FIG. 1, the plurality of components P are placed on the tray 16 in random positions and random postures. However, the embodiment of the present disclosure is not limited to this. For example, the plurality of components P may be placed on the tray 16 in a predetermined position and a predetermined posture by accommodating each component P in a plurality of recesses formed at a predetermined pitch on the mounting surface 16a of the tray 16.

[0063] Furthermore, in the case of the above-described embodiment, as shown in FIG. 4B, after determining the component Pt to be picked, the suction nozzle 20 is changed to a picking posture in which the component Pt to be picked can be sucked. However, the embodiment of the present disclosure is not limited to this. For example, the picking posture when picking the component P may be a predetermined picking posture determined in advance.

[0064] First, as a predetermined picking posture of the suction nozzle 20, as shown in FIG. 3, a picking posture is determined in which the nozzle tip 20a is located above the tray 16 and the base 20b is removed from above the tray 16.

[0065] Next, based on the captured image of the camera 22, the component state detection unit 56 of the control device 50 detects the position and orientation of each of the plurality of components P on the tray 16. Based on the detected position and orientation of each of the plurality of components P, the picking target determination unit 58 of the control device 50 determines the component P that can be picked by the suction nozzle 20 in a predetermined picking posture as the component Pt to be picked. Then, after the second robot 14 stops while maintaining the suction nozzle 20 in the predetermined picking posture, the first robot 12 places the component Pt to be picked at a picking position where it can be sucked by the suction nozzle 20 in the predetermined picking posture. In this case, the picking posture calculation unit 60 of the control device 50 shown in FIG. 2 can be omitted.

[0066] Also, in the case of the above-described embodiment, as shown in FIGS. 4B and 4C, the suction nozzle 20 picks the component Pt to be picked arranged at the picking position Lp without changing its position and orientation. However, the embodiment of the present disclosure is not limited to this. For example, an error may occur between the position of the component Pt to be picked arranged by the first robot 12 and the picking position Lp set in front of the nozzle tip 20a of the suction nozzle 20. In this case, in order to eliminate the error, the second robot 14 may change the position and orientation of the suction nozzle 20 located above the tray 16. Since the error is minute, the influence on the laminar flow LF above the tray 16 due to the change in the position and orientation of the suction nozzle 20 is substantially zero. The error can be calculated, for example, based on a captured image of a camera in which the nozzle tip 20a of the suction nozzle 20 and the component Pt to be sucked are imaged, that is, an image of the gap between them.

[0067] Furthermore, in the case of the above-described embodiment, as shown in FIG. 3, only the suction nozzle 20 is permitted to enter the region R above the tray 16, and entry of a part of the second robot 14 such as the mechanical interface 14a into the region R is not permitted. However, the embodiment of the present disclosure is not limited to this. When it is necessary for a part of the second robot 14 such as the mechanical interface 14a to enter the region R for picking the part P to be picked, in addition to the suction nozzle 20, a part of the second robot 14 may enter the region R above the tray 16. In this case, the entry speed at which a part of the second robot 14 enters the region R above the tray 16, that is, the moving speed of the tray 16, is preferably low in order to minimize the disturbance of the laminar flow LF above the tray 16.

[0068] Furthermore, in the case of the above-described embodiment, the first robot 12 applies the part Pt to be picked on the tray 16 to the suction nozzle 20 of the stopped second robot 14. However, the embodiment of the present disclosure is not limited to this. The first robot 12 and the second robot 14 may operate so that the part Pt to be picked and the nozzle tip 20a of the suction nozzle 20 meet at the picking position fixed on the reference coordinate system. In this case, the moving speed of the suction nozzle 20 is preferably lower than the moving speed of the tray 16 in order to minimize the disturbance of the laminar flow above the tray 16.

[0069] Note that the clean room in the above-described embodiment includes, in addition to a narrow clean booth and a clean room, other space partitions (e.g., isolators, etc.) and environments where dust prevention, antibacterial, disinfection, purification treatment, etc. are performed and which are isolated from the outside world.

[0070] That is, the component transfer system according to an embodiment of the present disclosure is, in a broad sense, a component transfer system that transfers components within a clean room, and includes a tray on which a plurality of components are placed, a first robot that holds the tray and changes the position and orientation of the tray, and a second robot that includes an end effector for picking up the components on the tray. The first robot moves the tray to apply the component to be picked up to the end effector of the second robot, and the end effector picks up the applied component to be picked up.

Industrial Applicability

[0071] The present disclosure is applicable to component transfer for transferring components between a plurality of robots in a clean room.

Explanation of Reference Numerals

[0072] 10 Component transfer system 12 First robot 14 Second robot 16 Tray 20 End effector (suction nozzle) CR Clean room P Component Pt Component to be picked up

Claims

1. A component transfer system for transferring components within a clean room, comprising: a tray on which a plurality of components are placed; a first robot that holds the tray and changes the position and orientation of the tray; a second robot including an end effector for picking up the components on the tray; the second robot stops with the end effector maintained in a picking posture in which a component to be picked can be picked; the first robot moves the tray to apply the component to be picked to the end effector of the second robot, and arranges the component to be picked at a picking position where the component to be picked can be picked without changing the position and orientation of the end effector; the end effector picks up the applied component to be picked. A component transfer system.

2. The component transfer system according to claim 1, wherein the first robot and the second robot operate so that only the end effector enters a region above the tray.

3. The plurality of components are placed on the tray at random positions and in random orientations, a camera for photographing the plurality of components on the tray; a component state detection unit that detects the position and orientation of each of the plurality of components based on the photographed image of the camera; a picking target determination unit that determines the component to be picked based on the position and orientation detected by the component state detection unit; further comprising a picking posture calculation unit that calculates a picking posture in which the component to be picked determined by the picking target determination unit can be picked, After the second robot stops with the end effector maintained in the picking posture calculated by the picking posture calculation unit, the first robot arranges the component to be picked determined by the picking target determination unit at the picking position. The component transfer system according to claim 1 or 2.

4. The picking posture is a predetermined picking posture, the plurality of components are placed on the tray at random positions and in random orientations, a camera for photographing the plurality of components on the tray; A component state detection unit that detects the position and orientation of each of the plurality of components based on the captured image of the camera; A picking target determination unit that determines, based on the position and orientation detected by the component state detection unit, a component that can be picked by the end effector in the predetermined picking posture as the component to be picked; and After the second robot stops while maintaining the end effector in the predetermined picking posture, the first robot places the component to be picked determined by the picking target determination unit at the picking position. The component transfer system according to claim 1 or 2.

5. The component transfer system according to claim 3 or 4, wherein the picking target determination unit determines a component placed on an outer portion of the tray as the component to be picked.

6. The end effector is a suction nozzle that picks up the component by suction, The component transfer system according to any one of claims 1 to 5, wherein the picking posture is a posture in which the suction nozzle has its nozzle tip positioned above the tray and its base removed from above the tray.

7. After the end effector picks up the component to be picked, the first robot moves the tray to a tray retraction position that does not vertically overlap with the second robot and the end effector, After the tray is moved to the tray retraction position, the second robot moves the component to be picked that is being picked by the end effector. The component transfer system according to any one of claims 1 to 6.

8. The component transfer system according to any one of claims 1 to 7, wherein the clean room is a clean room in which laminar flow in which air flows downward in the vertical direction is generated.

Images