Robot systems, press automation systems, programs and press jigs

Abstract

To provide a technique for reducing a workload of a worker and improving work efficiency.SOLUTION: A robot system includes an end effector for holding workpiece, an operation part which is connected to the end effector and operates the end effector, and a control part for controlling the operation of the operation part. The control part controls the steps of: operating an end effector, arranging a press object in a first plate jig arranged at a set position, overlapping a second plate jig on the first plate jig after the arrangement, and thereby assembling the workpiece in a form of sandwiching the press object; and integrally holding the press object as the workpiece, the first plate jig and the second plate jig by the end effector, and conveying the workpiece to a press position where the press object is pressed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a robot system, a press automation system, a program, and a press jig. [Background technology]

[0002] Conventionally, to analyze the properties of samples such as polymers, a polymer (press object) is pressed using a press device and the crushed polymer (pressed product) is evaluated. In experiments to analyze this polymer, the polymer is pressed and evaluated multiple times by changing the experimental parameters. This places a great burden on the operator. For this reason, there is a demand for the development of a system that uses a robot to transport polymers and automatically press the polymer.

[0003] Furthermore, Patent Document 1 discloses an automated press system that uses a robot to transport a metal plate to a press die section and press the metal plate, although it is not a system for evaluating a sample. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6983437 Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides a technique that can reduce the workload of workers and improve work efficiency. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, there is provided a robot system including an end effector that holds a workpiece, an operating unit connected to the end effector and that operates the end effector, and a control unit that controls the operation of the operating unit, wherein the control unit controls the steps of operating the end effector to place a press object on a first plate jig that is placed at a set position, and then, after placement, placing a second plate jig on the first plate jig to assemble the workpiece in a form in which the press object is sandwiched between them, and the end effector to hold the press object, the first plate jig, and the second plate jig together as the workpiece, and transport the workpiece to a press position where the press object is pressed.

[0007] According to the above robot system, smooth pressing can be performed at the pressing position, reducing the workload on the user and improving work efficiency.

[0008] The control unit also controls a process of holding the workpiece pressed at the press position and transporting it to a dismantling position by the end effector, and a process of operating the end effector at the dismantling position to detach the second plate jig from the first plate jig. This enables the robot system to smoothly dismantle the pressed workpiece, further reducing the burden on the user and improving work efficiency.

[0009] The pressing position includes a first position where the object to be pressed is pressed while being heated, and the control unit, in the step of transporting the workpiece, transports the workpiece to the first position and, after pressing, transports the workpiece to the disassembly position. This allows the robot system to press the object to be pressed (polymer) while being heated at the first position, and then immediately return the workpiece to the disassembly position to obtain a press-molded product.

[0010] The pressing positions include a first position where the press object is pressed while being heated, and a second position where the press object is pressed while being cooled, and the control unit, in the workpiece transporting step, transports the workpiece to the first position first, and then transports the workpiece from the first position to the second position after being pressed at the first position. This allows the robot system to press the press object (polymer) while being heated at the first position, and then press the press object while being cooled at the second position. As a result, the robot system can accurately produce a press-molded product according to a target temperature.

[0011] The end effector has an imaging unit that images an object and transmits the imaging information to the control unit, and the control unit moves the end effector to a target position based on previously stored position coordinate information of the object, and corrects positional deviation of the end effector from the target position based on the imaging information, thereby enabling the robot system to accurately grasp the object with the end effector.

[0012] The target object includes a feature point of the work table on which the first plate jig and the second plate jig are placed, or a feature point installed at the press position, so that the robot system can smoothly correct the position of the end effector so that it aligns with the feature point.

[0013] Furthermore, in the process of assembling the workpiece, the control unit moves the second plate jig parallel to the surface direction of the first plate jig to face the first plate jig, thereby enabling the robot system to suppress misalignment between the first plate jig and the second plate jig and perform smooth assembly.

[0014] Furthermore, one of the first plate jig and the second plate jig has a frame body, and the other of the first plate jig and the second plate jig has a guide surface that is guided by the frame body, and the control unit brings the guide surface into contact with the frame body when moving the second plate jig relative to the first plate jig in the process of assembling the workpiece. This allows the robot system to guide and position the relative positions of the first plate jig and the second plate jig using the frame body and the guide surface, even if there is a misalignment between the second plate jig and the first plate jig during movement of the second plate jig.

[0015] The press position has a recessed placement space that matches the shape of the first plate jig at the leading end of the entry direction of the workpiece when the workpiece enters the press position, and the control unit positions the workpiece by moving the workpiece horizontally to bring the workpiece into contact with a guide wall that defines the recessed placement space in the process of transporting the workpiece to the press position. This allows the robot system to guide the workpiece by the guide wall when moving it to the recessed placement space, and to accurately position the workpiece at the press position.

[0016] Furthermore, in the process of assembling the workpiece, the control unit places the press object on the first plate jig by placing a cylindrical body on the first plate jig and then putting the press object inside the cylindrical body, and then places the second plate jig on the first plate jig after removing the cylindrical body. This allows the robot system to effectively prevent the press object from scattering from the first plate jig in the process of assembling the workpiece.

[0017] The end effector has a set of grippers that can move toward and away from each other under operation commands from the control unit, and the control unit switches a jig having grips that can be held by the set of grippers to another jig having a grip during the operation of placing the press workpiece on the first plate jig and the operation of overlapping the first plate jig and the second plate jig. This allows the robot system to assemble workpieces easily and in a short time by switching jigs during the operation of placing the press workpiece on the first plate jig and the operation of overlapping the first plate jig and the second plate jig.

[0018] The plurality of jigs also include a supply cup that accommodates the press workpiece, and a fork jig having a plurality of forks that can enter under the first plate jig or the second plate jig and lift up the first plate jig or the second plate jig. This allows the robot system to easily perform the operation of placing the press workpiece on the first plate jig and the operation of holding the first plate jig and the second plate jig.

[0019] Furthermore, the plurality of jigs include temperature detectors that detect the temperature of the workpieces, and the control unit grips the temperature detectors with the set of grippers and inserts the temperature detectors into the workpieces placed at the press position, thereby enabling the robot system to measure the temperature of the object to be pressed using the temperature detectors when pressing the workpieces, and to perform pressing at an appropriate temperature.

[0020] Another aspect of the present disclosure provides a press automation system having a robot including an end effector that holds a workpiece and an operating unit that is connected to the end effector and operates the end effector, a press apparatus that presses a press object contained in the workpiece transported by the robot, and a control unit that controls the robot and the press apparatus, wherein the control unit controls the following steps: operating the end effector to place the press object on a first plate jig that is arranged at a set position, and after placement, placing a second plate jig on the first plate jig to assemble the workpiece in a form in which the press object is sandwiched between them; using the end effector to hold the press object, the first plate jig, and the second plate jig together as the workpiece, and transporting the workpiece from the set position to the press apparatus; and using the press apparatus to press the press object by pressing the first plate jig and the second plate jig.

[0021] Another aspect of the present disclosure provides a program that causes a computer to function as a robot command unit that outputs a command to a robot system to transport the work from the set position to a press device, a press command unit that outputs a command to the press device to press the press object, and an analysis command unit that outputs a command to an analysis device to analyze the pressed press object by operating an end effector at a set position where a work is set, and placing a press object on a first plate jig after placement, by placing a second plate jig on the first plate jig, assembling the work with the press object sandwiched between them, and holding the press object, the first plate jig, and the second plate jig together as the work by the end effector.

[0022] Another aspect of the present disclosure provides a press jig that holds a press object, is transported to a press device, and is pressed by the press device, the press jig having a first plate jig on which the press object is placed at a set position, and a second plate jig that is placed on top of the first plate jig on which the press object is placed, thereby forming a workpiece that sandwiches the press object, and the press jig can be transported to the press device with the first plate jig and the second plate jig sandwiching the press object, and after the press device is placed, the press device presses the press object by pressing the first plate jig and the second plate jig. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a schematic explanatory diagram showing the overall configuration of a sample evaluation system according to an embodiment; [Figure 2] FIG. 2 is a block diagram showing a communication mode between the control device and each device. [Figure 3] FIG. 1 is a perspective view showing the overall configuration of a press automation system. [Figure 4] FIG. 2 is an enlarged perspective view showing the grip of the end effector of the robot system. [Figure 5] Fig. 5(A) is a plan view showing the grip of the end effector and the fork jig, and Fig. 5(B) is a side view showing the grip of the end effector and the fork jig. [Figure 6] FIG. 1 is a perspective view showing a robot system and a plurality of jigs. [Figure 7] Fig. 7(A) is a plan view showing a plurality of jigs on a work table, and Fig. 7(B) is an enlarged plan view showing a part of the work table. [Figure 8] Fig. 8(A) is a plan view showing the pressing jig, and Fig. 8(B) is a perspective view showing the pressing jig assembled with the workpiece. [Figure 9] Figure 9(A) is a perspective view showing a supply cup, and Figure 9(B) is a perspective view showing a splash prevention cup. [Figure 10] FIG. 2 is a perspective view showing a thermocouple jig. [Figure 11] FIG. 2 is a side view showing the press body of the hot press device. [Figure 12] FIG. 2 is a perspective view showing a mounting portion of a hot press device. [Figure 13] FIG. 2 is a block diagram showing functional blocks of a control device. [Figure 14] 1 is a flowchart showing a processing flow of a sample evaluation method. [Figure 15] 10 is a flowchart showing an operation flow when the robot system grips a jig. [Figure 16] 10 is a flowchart showing the assembly process of a workpiece. [Figure 17] Figure 17(A) is a side view showing the operation when a workpiece is placed on the hot press device, and Figure 17(B) is a plan view showing the operation when a workpiece is placed on the hot press device. [Figure 18] Fig. 18(A) is a diagram showing a press-formed product of Example 1. Fig. 18(B) is a diagram showing a press-formed product of Example 2. [Figure 19] FIG. 10 is a block diagram illustrating a method for setting experimental parameters in sample evaluation. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same components are denoted by the same reference numerals, and duplicated descriptions may be omitted. Note that the X-axis, Y-axis, and Z-axis directions used in the following description are axes that intersect perpendicularly with each other, the X-axis and Y-axis directions are horizontal directions, and the Z-axis direction is vertical.

[0025] 1, a sample evaluation system 1 according to one embodiment includes a press automation system 2 that transports the polymer to multiple work locations and performs operations such as pressing in order to evaluate a polymer (resin) as a sample, and an analysis device 3 that evaluates the produced press-molded product. The sample evaluation system 1 also includes a control device (control unit) 4 that controls each device of the press automation system 2 and the analysis device 3.

[0026] The press automation system 2 includes, for example, a workbench 10, a robot 20, a heat press device 80, and a cold press device 90. In the press automation system 2, the robot 20 assembles a workpiece having a polymer on the workbench 10 (see also FIG. 8(B)). The press automation system 2 then transports the workpiece sequentially to two types of press devices (the heat press device 80 and the cold press device 90) using the robot 20, and presses the polymer in each press device to create a press-molded product. Note that the press automation system 2 is not limited to including two types of press devices (the heat press device 80 and the cold press device 90), and may use one type of press device or three or more types of press devices. The press automation system 2 may also use a press device that does not heat or cool the polymer, or may be configured to press the polymer using a single press device adjusted to multiple temperatures.

[0027] 2, the control device 4 includes one or more processors 4a, a memory 4b, an input / output interface 4c, and a communication interface 4d, and is configured as a computer that controls the entire sample evaluation system 1. The one or more processors 4a are one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a circuit made up of multiple discrete semiconductors, etc. The memory 4b includes non-volatile memory and volatile memory (e.g., a compact disc, a digital versatile disc (DVD), a hard disk, a flash memory, etc.), and forms a storage unit of the control device 4.

[0028] Furthermore, the input / output interface 4c is connected to an input / output device 5, which is an operator interface that can be operated and checked by an operator of the sample evaluation system 1. As the input / output device 5, for example, a monitor, a mouse, a keyboard, a touch panel (including a tablet terminal, a smartphone, etc.), a speaker, a microphone, etc. can be appropriately adopted.

[0029] The communication interface 4d communicates information between the robot 20, the heat press device 80, the cold press device 90, and the analyzer 3 and the control device 4 via a communication network 6 capable of wired or wireless communication. The communication network 6 may be any one of a WAN (Wide Area Network), a LAN (Local Area Network), a PAN (Personal Area Network), etc., or a combination of these. An example of a WAN is the Internet, an example of a LAN is IEEE802.11 or Ethernet (registered trademark), and an example of a PAN is Bluetooth (registered trademark) or NFC (Near Field Communication), etc.

[0030] The robot 20 is provided with a robot controller 29 that communicates information with the control device 4 and operates the robot 20. The heat press device 80 is provided with a heat press controller 89 that communicates information with the control device 4 and operates the heat press device 80. The cold press device 90 is provided with a cold press controller 99 that communicates information with the control device 4 and operates the cold press device 90. The analyzer 3 is provided with an analysis control unit 3c that communicates information with the control device 4 and operates the analyzer 3.

[0031] The memory 4b of the control device 4 stores a program 100 that controls the sample evaluation system 1. When the program 100 is read and executed by the processor 4a, it forms multiple functional units within the control device 4 that control the entire sample evaluation system 1. The control device 4 outputs control commands at appropriate times to the press automation system 2 (robot 20, heat press device 80, cold press device 90) and the analyzer 3, using each functional unit formed under the execution of the program 100. In other words, the program 100 functions as bridge software that links the production of press-molded products by the press automation system 2 with the analysis of the press-molded products by the analyzer 3.

[0032] Although FIG. 2 shows a single computer as the control device 4 of the sample evaluation system 1, the software may be installed on multiple computers, with each of the multiple computers executing the same or different parts of the software. In this case, a form of distributed computing may be used in which the computers communicate with each other to execute the processing. As an example, the control device 4 may be configured with a computer for a robot operating system (ROS) connected to each device, and multiple control computers connected to this ROS computer. Furthermore, the control device 4 of the sample evaluation system 1 may be configured to process information sent from a terminal using one or more computers installed on the cloud, and then send the processing results to the terminal.

[0033] As shown in FIG. 3, the press automation system 2 has a robot 20 as the base and a workbench 10, a heat press device 80, and a cold press device 90 arranged around the robot 20. The workbench 10, the heat press device 80, and the cold press device 90 are arranged so as to form an L-shape in a plan view (see also FIG. 1). The workbench 10 is formed in a rectangular shape that extends along the Y-axis direction and is located away from the robot 20 in the X-axis direction. The heat press device 80 and the cold press device 90 are located away from the robot 20 in the Y-axis direction and are arranged side by side along the X-axis direction. The arrangement of the workbench 10 and each device of the press automation system 2 is not limited to an L-shape and may be set as desired by the operator.

[0034] In the press automation system 2, the workbench 10 forms a work area where the robot 20 assembles and disassembles workpieces having a polymer. For example, the workbench 10 includes a base 11, a small work table 12 installed on the base 11, and a small transport table 13 installed on the base 11 so as to be aligned with the work table 12 in the Y-axis direction. Note that the workbench 10 may be a single table (a base 11 on which the work table 12 and the small transport table 13 are connected in series).

[0035] The base 11 has a rectangular, flat top plate in a plan view and multiple legs that support the top plate. The base 11 is installed so that the long side of the top plate is aligned with the Y-axis direction. In addition to the work table 12 and the transport table 13, a weighing scale 14, a take-out device 15, etc. are installed on the top plate of the base 11.

[0036] The work table 12 is a table for assembling and disassembling workpieces having the above-mentioned polymer. The press automation system 2 is provided with multiple types of jigs (objects to be grasped) 19 for assembling and disassembling workpieces on the upper surface of the work table 12. These multiple types of jigs 19 will be described in detail later. Meanwhile, the transport table 13 separates the press-molded product produced by the press automation system 2 from the jig 19 (lower plate jig 41) and forms a space where the press-molded product is kept waiting until transported to the analysis device 3.

[0037] The working surface (top surface) of the work platform 12 and the working surface (top surface) of the transport platform 13 are set at a height that can be reached by the end effector 25 of the robot 20. The base 11, the work platform 12, and the transport platform 13 may each be provided with an adjustment unit (e.g., a level adjuster) (not shown) that can adjust the height and parallelism of each top surface.

[0038] The weighing device 14 is installed adjacent to the work platform 12 and weighs the polymer to be pressed. For example, the weighing device 14 has a box-shaped case and a measuring unit for measuring the weight of the polymer on the bottom of the case. The measuring unit is connected to the control device 4 via a communication network 6 and automatically transmits measurement information (weight of the polymer) to the control device 4. The surface of the case of the weighing device 14 that is closest to the robot 20 is open, allowing the end effector 25 of the robot 20 to enter the case. For example, the robot 20 tilts a container of granulated polymer with a supply cup 61 (see FIG. 6 ), which serves as a jig 19, placed on the measuring unit. The control device 4 monitors the measurement information from the measuring unit and commands the operation of the robot 20 to supply an appropriate amount of polymer to the supply cup 61.

[0039] The removal device 15 is installed adjacent to the transport platform 13, and when the press-molded product is attached to the jig 19, it separates the press-molded product from the jig 19 and removes the press-molded product. This removal device 15 can be a well-known die-cutting device, ejector device, etc.

[0040] The robot 20 of the press automation system 2 has an operating unit 21 and an end effector 25 that is moved to a target three-dimensional position by the operating unit 21. The robot 20 operates the operating unit 21 and the end effector 25 based on control commands from the control device 4. Therefore, hereinafter, in this embodiment, a system combining the control device 4 and the robot 20 will also be referred to as a robot system 20A.

[0041] The operating unit 21 of the robot 20 is configured as a vertical multi-joint type having a base 22, a plurality of arms 23 installed on the upper part of the base 22, and a plurality of joints 24 connecting the arms 23. Three or more arms 23 (for example, seven in this embodiment) are provided, and each arm 23 has a wrist 231 at its distal end.

[0042] The multiple joints 24 are provided between adjacent arms 23, and move the arm 23 on the distal side relative to the arm 23 on the base 22 side. The robot 20 is provided with a joint motor inside each of the base 22 and the joints 24 (or arms 23). The robot 20 also has multiple motor drivers that supply power to each joint motor under the control of a robot controller 29, and operates each joint 24 independently.

[0043] As shown in FIG. 4, the end effector 25 of the robot 20 is attached to a wrist 231 (the ends of the multiple arms 23). The end effector 25 according to this embodiment employs a clamp mechanism that grips a jig 19, which is an object to be gripped, with a pair of grippers 27. Specifically, the end effector 25 has a rectangular housing 26 fixed to the wrist 231, and the pair of grippers 27 are disposed on the end surface (tip surface) of the housing 26. A gripper operating unit 26a that operates the pair of grippers 27 is provided within the housing 26. The gripper operating unit 26a has a motor, multiple gears, etc. (not shown), and moves the pair of grippers 27 closer to and farther apart along the longitudinal direction of the end surface under the control of a robot controller 29.

[0044] The pair of grippers 27 have a base end 271 housed in the housing 26, an intermediate portion 272 connected to the tip of the base end 271 and inclined in a direction narrowing inward, and a protruding end 273 connected to the tip of the intermediate portion 272 and extending parallel to the base end 271. When the pair of grippers 27 approach each other by the gripper operating portion 26a, they can grip an object to be gripped that is placed between the protruding end 273 and move the object to be gripped under the operation of the operating portion 21. The object to be gripped by the pair of grippers 27 is one of a plurality of jigs 19 (described below) that are placed on the workbench 10, and in FIG. 4 a fork jig 30 is shown as an example.

[0045] Furthermore, the robot system 20A forms a holding structure 33 between the end effector 25 and the plurality of jigs 19. Therefore, each of the plurality of jigs 19 has a structure (the grips 32 of the fork jig 30 in FIG. 4) that is held by a pair of grippers 27.

[0046] As shown in Figures 5(A) and 5(B), each gripping body 27 of the end effector 25 has, as one of the holding structures 33, a plurality of (two) gripping protrusions 274 on the inner facing surface of the protruding end portion 273. Each gripping protrusion 274 is made of a metal material and is integrally molded with the gripping body 27. Each gripping protrusion 274 protrudes slightly from the facing surface of the corresponding gripping body 27, and its outer peripheral surface 274c is formed in a conical shape that tapers from the facing surface of one of the connected gripping bodies 27 toward the other gripping body 27 (in the protruding direction). The two gripping protrusions 274 are arranged side by side along the protruding direction of the protruding end portion 273.

[0047] On the other hand, the grip 32 of the fork jig 30 protrudes at an angle from the upper surface of the fork body 31. The grip 32 is formed of a metal material in the shape of a wide block, and has sufficient rigidity to withstand deformation even when gripped by the pair of gripping bodies 27. The grip 32 has a plurality (two) of gripping recesses 321 recessed into each of a pair of side surfaces as the other of the holding structure 33. The inner peripheral surface 321t of each gripping recess 321 is tapered (conical funnel-shaped) with a diameter that decreases from the opening toward the depth. The inclination of the inner peripheral surface 321t approximately matches the inclination of the outer peripheral surface 274c of the gripping body 27. The two gripping recesses 321 are arranged side by side along the protruding direction of the grip 32.

[0048] When gripping a target jig 19 (fork jig 30 in FIG. 5 ), the robot 20 positions the pair of grippers 27 so that they face both side surfaces of the grip 32, and then brings the grippers 27 close to each other. When the grippers 27 approach each other, the conical outer peripheral surface 274c of each gripping protrusion 274 is guided by the tapered inner peripheral surface 321t of each gripping recess 321 and enters. As a result, the gripping protrusions 274 and the gripping recesses 321 fit together, and the opposing surfaces of the pair of grippers 27 come into contact with both side surfaces of the grip 32 to clamp the grip 32. Moreover, when the pair of grippers 27 grips the grip 32, as shown in FIG. 5(B) , two gripping protrusions 274 and two gripping recesses 321 are engaged on each side surface. Therefore, the holding structure 33 can restrict the rotation of the grip 32 (i.e., the object to be grasped (jig 19)) relative to the end effector 25. Therefore, the end effector 25 can firmly grasp the jig 19 even when a load is applied from the main body of the jig 19 or the like.

[0049] Returning to FIG. 4 , the robot system 20A according to this embodiment has a camera (imaging unit) 28 mounted on the housing 26 of the end effector 25. The camera 28 is a compound-eye imaging device that captures images of the area beyond the pair of grippers 27 and transmits the captured image information to the control device 4 (or robot controller 29). The control device 4 recognizes the marker 10m on the work table 10 based on the captured image information transmitted from the camera 28. The control device 4 basically operates the multiple joints 24 based on a preset three-dimensional target position (position coordinates) to move the end effector 25. When the end effector 25 approaches the three-dimensional target position, the control device 4 corrects the movement of the end effector 25 based on the three-dimensional position extracted from the captured image information. This allows the robot system 20A to accurately guide the end effector 25 toward a target index (e.g., the center line of the grip 32) of the target object to be grasped (jig 19) and stably grasp the object to be grasped with the pair of grippers 27.

[0050] Next, we will explain in detail each of the multiple jigs 19 prepared in the press automation system 2. As shown in Fig. 6, the robot system 20A moves the end effector 25 relative to the work table 12, and assembles a workpiece that holds a polymer using the multiple jigs 19 set on the work table 12.

[0051] A plurality of jigs 19, including a fork jig 30, a press jig 40, a cup jig 60, and a thermocouple jig (temperature detector) 70, are set on the work table 12 in advance. The press jig 40 is the main jig for constructing a workpiece having a polymer, and includes a lower plate jig (first plate jig) 41, an intermediate plate jig 46, and an upper plate jig (second plate jig) 51. The cup jig 60 is a jig for placing the polymer on the lower plate jig 41, and includes a supply cup 61 and a scattering prevention cup 66. Furthermore, a die-cutting transport table 16 is set on the work table 12 in advance for dismantling the workpiece having the press-molded product after pressing and transporting it to the removal device 15.

[0052] As shown in FIGS. 6 and 7(A), the work table 12 has a rectangular top panel 121, which forms a work surface 12s on which the die-cutting carrier 16 and each of the jigs 19 can be set. On the side of the work table 12 closer to the robot 20 in the direction along the short side (X-axis direction) of the work table 12, in order toward the negative Y-axis direction, are arranged the upper plate jig 51, the lower plate jig 41, the middle plate jig 46, and the die-cutting carrier 16. On the side of the work table 12 farther from the robot 20 in the direction along the short side (X-axis direction), are arranged the thermocouple jig 70, the fork jig 30, the anti-scattering cup 66, and the supply cup 61 in order toward the negative Y-axis direction. Needless to say, the jigs 19 can be positioned as desired by the worker.

[0053] A plurality of holders 17 for holding a die-cutting conveyor 16 and jigs 19 are installed on the work surface 12s. Each holder 17 is fixed to the top plate 121 by threading a plurality of fixing screws 18 through through holes (not shown) of each holder 17 into a plurality of screw holes 12h formed on the work surface 12s. The plurality of screw holes 12h are formed at regular intervals (for example, 30 mm) and are arranged in a matrix in the X-axis and Y-axis directions as a whole.

[0054] Each holder 17 is formed into an appropriate shape according to the shapes of the demolding conveyance table 16 and each jig 19. For example, as shown in Fig. 7(B), when holding the upper plate jig 51, four holders 17a are used, each having a first step portion 171 fixed to the fixing screw 18 and a second step portion 172 connected to the first step portion 171 and formed lower than the first step portion 171.

[0055] Two of the four holders 17a are fixed at positions supporting both sides of the upper plate jig 51 in the X-axis direction (sides opposite the side where the robot 20 is installed), and the remaining two holders 17a are fixed at positions supporting both sides of the upper plate jig 51 in the Y-axis direction. In the set state, the upper plate jig 51 waits in a state where its side edges are close to or in contact with the first step portions 171 and its lower surface is supported by the second step portions 172 of each holder 17a, slightly floating above the work surface 12s. Like the upper plate jig 51, the lower plate jig 41 and the die-cutting conveyance table 16 are also held by four holders 17a fixed to the work surface 12s according to their respective shapes. The intermediate plate jig 46 is held by three holders 17a at one side in the X-axis direction and both sides in the Y-axis direction, and is held by a holder 17b that can cover the periphery of the grip 48.

[0056] For example, the fork jig 30, the cup jig 60 (the supply cup 61, the anti-scattering cup 66), and the thermocouple jig 70 are held by a rectangular holder 17b that can cover the periphery of each jig. The holder 17b has holding grooves that correspond to the shape of the jig, and by storing each jig in the holding groove, the jig is held so that it cannot move horizontally.

[0057] 4, while being gripped by the end effector 25 of the robot 20, the fork jig 30 advances to the underside of the upper plate jig 51 as the end effector 25 moves, thereby holding the upper plate jig 51. Furthermore, while being gripped by the end effector 25 of the robot 20, the fork jig 30 advances to the underside of the lower plate jig 41 as the end effector 25 moves, thereby holding the lower plate jig 41.

[0058] As described above, the fork jig 30 is configured by connecting the fork body 31 and the grip 32. The fork body 31 has a pair (two) rod-shaped flat plates 31a extending substantially parallel to each other and a connecting flat plate 31b connecting the base ends of the pair of rod-shaped flat plates 31a. For example, the pair of rod-shaped flat plates 31a gradually narrow from the connecting portion of the connecting flat plate 31b toward the tip, and the tip end is formed with a rounded corner.

[0059] The grip 32 is fixed to the upper surface of the connecting plate 31b by suitable fixing means such as screws or welding. The grip 32 is inclined at an angle ranging from 20° to 70° with respect to the fork body 31, for example, and has two gripping recesses 321 on each of its two side surfaces as described above. Therefore, when the fork jig 30 is housed in the holder 17b, the grip 32 protrudes upward in the negative direction of the X-axis (positive direction of the Z-axis) from the upper surface of the holder 17b. This allows the end effector 25 to easily access the grip 32, and by moving the end effector 25 upward while holding the fork jig 30, the fork jig 30 can be pulled out of the holder 17b.

[0060] As shown in Figures 8(A) and 8(B), the pressing jig 40 is a jig that forms a workpiece 59 having a polymer by placing a polymer on a lower plate jig 41, and then stacking an intermediate plate jig 46 and an upper plate jig 51 in that order. Note that in Figure 8(A), for ease of understanding the invention, the upper surface (flat surface) of the lower plate jig 41 and the intermediate plate jig 46 is shown, while the lower surface of the upper plate jig 51 is shown.

[0061] That is, the press automation system 2 according to this embodiment holds the polymer in the vertical direction by sandwiching the polymer between the lower plate jig 41 and the upper plate jig 51. Furthermore, the press automation system 2 prevents the polymer from slipping out in the lateral direction by using an intermediate plate jig 46 disposed between the lower plate jig 41 and the upper plate jig 51. The press automation system 2 transports the polymer in the form of a workpiece 59 (with the polymer sandwiched between the lower plate jig 41 and the upper plate jig 51) to the heat press device 80 and the cold press device 90, and presses the polymer as is during pressing. Note that the press jig 40 may be configured to sandwich the polymer between the lower plate jig 41 and the upper plate jig 51 without using the intermediate plate jig 46.

[0062] Specifically, the lower plate jig 41 has a plate body 42 formed in a plate shape that is thicker than the fork body 31 of the fork jig 30, and a plurality of frame bodies 43 protruding from the upper surface of the plate body 42. A pair of holding grooves 44 are formed in the lower surface of the lower plate jig 41. Furthermore, a measurement hole 45 into which a thermocouple jig 70 is inserted is formed in the middle position in the width direction of the lower plate jig 41.

[0063] The plate body 42 has a polygonal (hexagonal) shape in plan view, with a trapezoidal tip end (positive X-axis direction) continuing to a rectangular base end (negative X-axis direction) The tip end of the plate body 42 has opposite sides 42a that are close to each other toward the tip end, and each opposite side 42a is connected to a tip end side 42b.

[0064] The upper surface of the plate body 42 has a flat portion located inside the frames 43. When assembling the workpiece 59, a polymer is placed on the placement area of ​​this inner portion. A pair of stoppers 42d are attached to the base end edge 42c of the plate body 42 to restrict movement of the plate body 42 toward the tip end. The plate body 42 may have a partially cut-out shape to reduce the overall weight of the lower plate jig 41.

[0065] The plurality of frame bodies 43 are provided on the four side edges (both sides in the X-axis direction and both sides in the Y-axis direction) of the plate main body 42, and extend parallel to the respective side edges. Each frame body 43 has an inclined surface 431 that slopes from the outside to the inside toward the plate main body 42 (lower side).

[0066] The pair of holding grooves 44 extend linearly from the base end edge 42c of the plate body 42 toward the tip. The pair of rod-shaped flat plates 31a of the fork jig 30 enter the pair of holding grooves 44 from the open portion of the base end edge 42c. Each holding groove 44 is formed slightly wider than the rod-shaped flat plates 31a and gradually narrows toward the tip, so that most of each rod-shaped flat plate 31a can be accommodated. The lower plate jig 41 is supported by the fork jig 30 inserted into the pair of holding grooves 44 while maintaining horizontality.

[0067] The measurement hole 45 extends linearly from the base end edge 42c toward the tip end inside the plate body 42. The detector 73 of the thermocouple jig 70 is inserted into the measurement hole 45 when a workpiece is placed at the pressing position of the heat press device 80 or the pressing position of the cold press device 90. This makes it possible to measure the temperature of the placement area of ​​the plate body 42 (in other words, the temperature of the polymer supplied to the placement area).

[0068] The intermediate plate jig 46 of the pressing jig 40 is first placed on the plate body 42 of the lower plate jig 41 to define a polymer placement area. The intermediate plate jig 46 has a plate-shaped plate body 47 that is thinner than the plate body 42 of the lower plate jig 41, and a grip 48 that is connected to the plate body 47 via a connecting portion 49. The plate body 47 of the intermediate plate jig 46 has a circular hole 47h formed therein to define the placement area.

[0069] Like plate body 42, plate body 47 is formed in a polygonal (hexagonal) shape in plan view, with a trapezoidal tip end side (X-axis positive direction side) continuing to a rectangular base end side (X-axis negative direction side) in a plan view. Plate body 47 is formed smaller than plate body 42 in a plan view, and can be placed inside multiple frames 43. The tip side of plate body 47 has opposite sides 47a that are close to each other toward the tip, and each opposite side 47a is connected to a tip side 47b.

[0070] The grip 48 protrudes in a direction (positive direction of the Z axis) perpendicular to the plane of the plate main body 47. Like the grip 32 of the fork jig 30, the grip 48 is formed in a block shape and has a pair (two) of gripping recesses 481 on both sides thereof. Each of the gripping recesses 481 constitutes one side of the holding structure 33 into which each of the gripping protrusions 274 provided on the pair of grippers 27 enters when gripped by the end effector 25.

[0071] Furthermore, after the polymer is supplied to the placement area of ​​the lower plate jig 41, the upper plate jig 51 of the pressing jig 40 is placed on the plate body 47 of the intermediate plate jig 46. This upper plate jig 51 includes a plate body 52 having a thickness approximately the same as that of the lower plate jig 41. Furthermore, a pair of holding grooves 53 are formed on the lower surface of the upper plate jig 51.

[0072] The plate body 52 has a polygonal (hexagonal) shape in plan view, with a trapezoidal tip end (positive X-axis direction) continuing to a rectangular base end (negative X-axis direction) in a plan view. The tip end of the plate body 42 has opposite sides 52a that are close to each other toward the tip end, and each opposite side 52a is connected to a tip end side 52b. In this embodiment, the shape of the plate body 52 of the upper plate jig 51 substantially matches the shape of the plate body 42 of the lower plate jig 41.

[0073] A guide surface 54 that slopes inward from the top surface to the bottom surface is formed on each side of the plate body 52. ​​When the upper plate jig 51 is placed on the lower plate jig 41, the guide surface 54 of the plate body 52 comes into contact with the sloped surfaces 431 of the multiple frames 43 and guides the relative position of the upper plate jig 51 with respect to the lower plate jig 41.

[0074] The pair of holding grooves 53 extend linearly from the guide surface 54 on the base end side of the plate body 52 toward the tip end. A pair of rod-shaped flat plates 31a of the fork jig 30 enters the pair of holding grooves 53. The upper plate jig 51 is supported by the fork jig 30 inserted into the pair of holding grooves 53 while maintaining horizontality.

[0075] The above-described press jigs 40 are assembled into a workpiece 59 as shown in FIG. 8B by the robot 20 (see FIG. 6). In the form of the workpiece 59, the intermediate plate jig 46 and the upper plate jig 51 overlap the lower plate jig 41, and the circumferential frames 43 of the lower plate jig 41 and the circumferential guide surfaces 54 of the upper plate jig 51 approach each other. This restricts misalignment of the upper plate jig 51 relative to the lower plate jig 41 in the planar direction. A polymer is sandwiched between the plate main body 42 of the lower plate jig 41 and the plate main body 52 of the upper plate jig 51. In the press automation system 2, the robot 20 holds the lower plate jig 41 via the fork jig 30, allowing the workpiece 59, which is an integrated combination of the lower plate jig 41, intermediate plate jig 46, and upper plate jig 51, to be transported from the workbench 10.

[0076] On the other hand, as shown in Figure 9(A), the supply cup 61 of the cup jig 60 has a cup body 62 and a grip 64 connected to the outside of the cup body 62, and is used when supplying polymer to the mounting area of ​​the lower plate jig 41.

[0077] Cup body 62 is formed by a circular bottom 621 and a conical side 622 that slopes upward and outward from the edge of bottom 621, and has a storage space 63 inside bottom 621 and side 622. That is, inner circumferential surface 62i of cup body 62 that forms storage space 63 is formed in a tapered shape. Because the opening of storage space 63 of cup body 62 is wide in this way, the polymer to be measured in measuring device 14 (see FIG. 3) can be placed into storage space 63 without spilling.

[0078] The grip 64 has a connecting portion 641 that connects to the side portion 622 of the cup body 62, and a block portion 642 that protrudes from one end of the connecting portion 641 in a direction perpendicular to the bottom portion 621 of the cup body 62 (the positive direction of the Z axis), and is L-shaped in side view. Like the grip 32 of the fork jig 30, this grip 64 also has a pair (two) of gripping recesses 643 on both side surfaces of the block portion 642. Each gripping recess 643 constitutes one side of the holding structure 33 into which each gripping protrusion 274 provided on the pair of grippers 27 enters when gripping is performed by the end effector 25.

[0079] 9(B), the anti-scattering cup 66 of the cup jig 60 has a cup body 67 and a grip 69 connected to the outside of the cup body 67. The anti-scattering cup 66 is placed in the mounting area of ​​the lower plate jig 41, and prevents the polymer from scattering when the polymer is supplied by the supply cup 61.

[0080] The cup body 67 is formed by a cylindrical tube 671 without a bottom, and has a through-space 68 penetrating the inside of the tube 671 in the vertical direction (Z-axis direction). That is, the inner circumferential surface 67i of the cup body 67, which forms the through-space 68, extends with a constant inner diameter in the vertical direction. Polymer is poured from the supply cup 61 into the through-space 68 of the cup body 67, which is disposed on the lower plate jig 41. At this time, the cup body 67 can prevent the polymer from spilling out of the tube 671. Note that the member that prevents scattering when the polymer is supplied to the lower plate jig 41 is not limited to the above configuration and can have various other configurations. For example, the scattering prevention cup 66 may be configured such that a plate having substantially the same shape as the intermediate plate jig 46 is connected to the outer circumferential surface of the tube 671, and this plate is in contact with the intermediate plate jig 46. This plate enables the scattering prevention cup 66 to reliably prevent the tube 671 from tipping over.

[0081] The grip 69 has a connecting portion 691 that connects to the cylindrical body 671 of the cup main body 67, and a block portion 692 that protrudes from one end of the connecting portion 691 in a direction parallel to the cylindrical body 671 (positive direction of the Z axis), and is L-shaped in side view. Like the grip 32 of the fork jig 30, this grip 69 also has a pair (two) of gripping recesses 693 on both side surfaces of the block portion 692. Each gripping recess 693 constitutes one side of the holding structure 33 into which each gripping protrusion 274 provided on the pair of grippers 27 enters when gripped by the end effector 25.

[0082] 10 , the thermocouple jig 70 measures the temperature of the polymer by being inserted into the measurement hole 45 of the lower plate jig 41 when the workpiece 59 is placed in the heat press device 80 or the cold press device 90. The thermocouple jig 70 includes a thermocouple body 71 and a grip 72 attached to the thermocouple body 71.

[0083] Thermocouple body 71 has a rod-shaped detector 73 that protrudes toward the tip and a harness 74 that supplies power to detector 73, and has grip 72 attached to the connecting portion of detector 73 and harness 74. A well-known temperature detector can be used for this thermocouple body 71.

[0084] The grip 72 has an attachment portion 721 that is attached to the exterior of the thermocouple main body 71, a flange portion 723 that protrudes outward in the width direction at the tip of the attachment portion 721, and a block portion 724 that is connected to the upper surface of the attachment portion 721 and inclined upward and toward the base end. The attachment portion 721 has two parts 721p that can be separated along the axial direction of the thermocouple main body 71, and these two parts 721p are firmly fixed to the thermocouple main body 71 by screwing them together with multiple connecting screws 722.

[0085] The block portion 724 of the grip 72 is inclined upward toward the base end, similar to the grip 32 of the fork jig 30. Two gripping recesses 725, which are one part of the holding structure 33, are provided on each of both side surfaces of the block portion 724. When the thermocouple jig 70 formed in this manner is housed in the holder 17b, the grip 72 protrudes from the upper surface of the holder 17b, allowing easy access by the end effector 25 of the robot 20 (see also FIG. 6).

[0086] 6 and 7(A), a rectangular marker 10m is placed on the top of the work bench 12. The marker 10m serves as an imaging index (feature point) for correcting the coordinate position of each jig 19 when an image is captured by a camera 28 mounted on the end effector 25 of the robot 20. An AR (Augmented Reality) marker or the like having a three-dimensional position can be used as the marker 10m, which allows the robot controller 29 or the control device 4 to recognize the three-dimensional position based on the position of the AR marker recognized from the imaging information. The marker 10m is not limited to an AR marker and may be any mark extractable from the imaging information (e.g., a QR code (registered trademark)). The marker 10m is not limited to being placed on the work bench 10, but may also be placed at the pressing position of a press device (heat press device 80, cold press device 90), for example.

[0087] Returning to Figure 3, we will now explain the heat press device 80 and cold press device 90 that actually press the polymer-containing workpiece. The heat press device 80 includes a heat press body 81 and a heat press controller 89 (see also Figure 2) that controls the operation of the heat press body 81. The heat press controller 89 controls the operation of the heat press device 80 based on control commands from the control device 4.

[0088] 11, the heat press body 81 has, on the upper surface of a body casing 81a, a mounting portion 82 that forms a pressing position (first position) for the workpiece 59, and a press body 83 that can move toward and away from the mounting portion 82. Furthermore, a press operating mechanism (not shown) that operates the press body 83 is provided inside the body casing 81a. The heat press body 81 may also have a cover 85 (see dotted line in FIG. 11) that covers the mounting portion 82 and the press body 83.

[0089] The mounting section 82 includes a fixed base 821 and a mounting member 822 that is fixed to the upper surface of the fixed base 821 and on which the workpiece 59 is directly placed. A heater mechanism 84 that heats the workpiece 59 via the mounting member 822 is provided inside the fixed base 821.

[0090] As shown in FIG. 12, the placement member 822 is provided with a placement recessed space 822a that roughly matches the shape of the workpiece 59 (see FIG. 8(B)). The placement recessed space 822a is open on the installation side (Y-axis negative side) of the robot 20, and the workpiece 59 can be slid horizontally from the open portion and entered into the placement recessed space 822a. The peripheral wall of the placement member 822 that forms the placement recessed space 822a functions as a guide wall 822g that guides the side edge of the workpiece 59. The guide wall 822g on the back side of the placement recessed space 822a is formed in a shape that matches the opposite side 42a and the tip edge 42b of the lower plate jig 41 and the opposite side 52a and the tip edge 52b of the upper plate jig 51.

[0091] Therefore, when the workpiece 59 is placed on the placement section 82, the workpiece 59 enters the inner side of the placement recessed space 822a while being guided by the guide wall 822g as the robot 20 slides the workpiece 59. Then, the leading edges 42b, 52b of the workpiece 59 abut against the innermost guide wall 822g, so that the workpiece 59 can be positioned accurately at the pressing position of the placement section 82.

[0092] The press body 83 is raised and lowered relative to the placement unit 82 by a press operation mechanism in the machine body casing 81a. As shown in Fig. 11, the press body 83 includes a movable platen 831, a plurality of (four) support columns 832 that support the movable platen 831 so that the movable platen 831 can be raised and lowered, a pressing support portion 833 installed on the lower surface of the movable platen 831, and a pressing body 834 fixed to the pressing support portion 833. The press body 83 also includes a heater mechanism 84 in the pressing support portion 833, which heats the pressing body 834. The movable platen 831 may also include heat dissipation fins 835 on the upper surface that dissipate heat from the pressing support portion 833.

[0093] Each support column 832 protrudes from inside the machine body casing 81a and is connected to a press operation mechanism inside the machine body casing 81a. The press operation mechanism includes a drive source (not shown) such as a hydraulic cylinder, a pneumatic cylinder, or a motor, and a drive transmission unit (not shown) composed of a plurality of gears, etc. Each support column 832 moves up and down under the operation of the press operation mechanism, displacing the movable platen 831, the pressing support member 833, and the pressing body 834 together while maintaining their horizontal positions.

[0094] The pressing body 834 comes into contact with the upper plate jig 51 of the workpiece 59 when the movable platen 831 descends. The lower surface of the pressing body 834 is formed flat and comes into surface contact with the upper surface of the upper plate jig 51 placed on the placement section 82. The press body 83 descends toward the placement section 82, thereby pressing the workpiece, i.e., the polymer sandwiched between the lower plate jig 41 and the upper plate jig 51, in the vertical direction (Z-axis direction) in cooperation with the placement section 82. After pressing, the press body 83 rises and separates from the placement section 82, allowing the workpiece 59 to be removed. In pressing the polymer, the heat press controller 89 (see FIG. 3) controls the press operation mechanism based on the target pressure of the control command received from the control device 4.

[0095] The heater mechanism 84 of the heat press device 80 is connected to a heat press controller 89 via a temperature control driver (not shown), and heating is controlled under the control of the heat press controller 89. When pressing the polymer, the heat press device 80 can adjust the temperature of the mounting section 82 and the temperature of the press body 83 to appropriate target temperatures. Note that the heat press device 80 may be configured so that the heater mechanism 84 is provided only on one of the mounting section 82 and the press body 83.

[0096] 3, the cold press apparatus 90, like the heat press apparatus 80, has a mounting portion 92 on the top surface of a body casing 91a that forms a pressing position (second position) for the workpiece 59, and a press body 93 that can move toward and away from the mounting portion 92. Furthermore, a press operating mechanism (not shown) that operates the press body 93 is provided inside the body casing 91a. The cold press apparatus 90 has basically the same configuration as the heat press apparatus 80 except for the configuration for adjusting the temperature, and therefore a detailed description thereof will be omitted.

[0097] The cold press apparatus 90 is equipped with a cooling mechanism 94 that cools each of the mounting portion 92 and the press body 93. For example, the cooling mechanism 94 can be configured to have internal flow paths formed in each of the mounting portion 92 and the press body 93 to circulate a refrigerant, or to have heat dissipation fins on the mounting portion 92 and the press body 93 that are air- or water-cooled. By controlling the cooling mechanism 94 under the control of a cold press controller 99, the cold press apparatus 90 can adjust the temperatures of the mounting portion 92 and the press body 93 to appropriate target temperatures when pressing a polymer.

[0098] The control device 4 of the sample evaluation system 1 interconnects the robot 20, heat press device 80, cold press device 90, and analysis device 3. For this reason, a press automation command unit 101 and an analysis command unit 105 are formed within the control device 4 based on the execution of a program 100 by the processor 4a, as shown in FIG. 13. Furthermore, within the press automation command unit 101 are constructed a robot command unit 102 that generates and outputs control commands for the robot 20, a heat press command unit 103 that generates and outputs control commands for the heat press device 80, and a cold press command unit 104 that generates and outputs control commands for the cold press device 90.

[0099] Each command unit of the control device 4 monitors the state of each device by receiving the processing flow procedure of the program 100 and detection information from multiple types of sensors (not shown) provided in each device of the sample evaluation system 1. Each command unit then generates a control command at an appropriate timing and sends this control command to a specified device, thereby operating the device.

[0100] The sample evaluation system 1 (press automation system 2, robot system 20A) according to this embodiment is basically configured as described above, and its operation (sample evaluation method) will be described below with reference to FIG.

[0101] As described above, in the sample evaluation method, the control device 4 of the sample evaluation system 1 first presses a polymer using the press automation system 2 to create a press-molded product (performs the pressing process), and then analyzes and evaluates the created press-molded product using the analysis device 3. Specifically, the control device 4 performs a weighing process (step S1), an assembly process (step S2), a first conveying process (step S3), a heat pressing process (step S4), a second conveying process (step S5), a cold pressing process (step S6), a return conveying process (step S7), a disassembly process (step S8), a conveying process during analysis (step S9), and an analysis process (step S10) in this order (see also FIG. 1).

[0102] As shown in FIG. 3, in the weighing step (step S1), the press automation system 2 uses the scale 14 on the workbench 10 to weigh the polymer to be evaluated. For example, the control device 4 controls the robot 20 to pick up a supply cup 61 set on the workbench 10 and place this supply cup 61 in the measurement unit of the scale 14. Furthermore, while monitoring the measurement information from the measurement unit, the control device 4 controls the robot 20 to perform an operation of putting granular polymer from a container into the supply cup 61. Note that this weighing step may also be performed by an operator manually weighing the polymer to a target weight.

[0103] Furthermore, when gripping the jig 19 (supply cup 61), the robot system 20A adjusts the position of the end effector 25 based on the three-dimensional target position included in the control command and the image capture information of the camera 28 of the end effector 25, and grips the jig 19. Hereinafter, the position correction of the end effector 25 in this robot system 20A will be described with reference to FIG.

[0104] When the end effector 25 of the robot system 20A grips the jig 19 or moves it to a target position, the robot controller 29 receives a three-dimensional target position and orientation as a control command from the control device 4 (step S101).

[0105] Then, the robot controller 29 operates the operating unit 21 based on the three-dimensional target position and orientation, and moves the end effector 25 to above and near the work table 10 (step S102).

[0106] Then, the robot controller 29 captures an image using the camera 28 installed on the end effector 25 and acquires image information from the camera 28 (step S103). The robot controller 29 also performs appropriate image processing on the acquired image information.

[0107] The imaging information of the camera 28, which captures an image above and near the workbench 10, includes a marker 10m (see FIG. 6) that is set on the work bench 12. The robot controller 29 extracts this marker 10m from the imaging information, and calculates the error of the three-dimensional target position from the relative position between the marker 10m in the imaging information stored in advance and the target jig 19 (step S104).

[0108] Furthermore, the robot controller 29 updates the current three-dimensional target position to a three-dimensional target position and orientation that takes the calculated error into account (step S105). Then, the robot controller 29 corrects the operation of the operating unit 21 in accordance with the updated three-dimensional target position and orientation, and moves the end effector 25 (step S106). This allows the robot system 20A to accurately guide the end effector 25 above the work table 10 in accordance with the image information captured by the camera 28.

[0109] In step S107, the robot controller 29 operates the pair of grippers 27 of the end effector 25 to grip the target jig 19 (supply cup 61). At this time, since the end effector 25 has moved to the updated three-dimensional target position, the grip 64 of the supply cup 61 and the center line of the end effector 25 are approximately aligned. Therefore, the pair of grippers 27 can grip both side surfaces of the grip 64 with high precision.

[0110] In the above example, the operation of gripping supply cup 61 by end effector 25 has been described, but it goes without saying that robot system 20A can perform similar operations when gripping other jigs 19. Alternatively, when transporting an object gripped by end effector 25 to a target position, movement is first performed based on the three-dimensional target position, and imaging information from camera 28 is used near the three-dimensional target position, thereby enabling the object to be transported to the target position with high accuracy.

[0111] Returning to FIG. 1, in the next assembly process (step S2), the control device 4 causes the robot 20 to assemble the workpiece 59 on the worktable 10. In assembling the workpiece 59, the respective jigs 19 are operated using the position where the lower plate jig 41 is placed by each holder 17 as a base point. That is, in the assembly process, the position where the lower plate jig 41 is placed on the worktable 10 becomes the set position for assembling the workpiece 59. In addition, in the assembly process, the control device 4 forms the workpiece 59 in accordance with the assembly procedure shown in FIG.

[0112] In detail, the control device 4 first causes the robot 20 to grasp the intermediate plate jig 46 and remove it from the holder 17, then transports the intermediate plate jig 46 to the lower plate jig 41 and places it on the upper surface of the plate body 42 (step S21). As a result, a mounting area defined by the hole 47h of the intermediate plate jig 46 is formed on the upper surface of the lower plate jig 41 (see also FIG. 8(A)).

[0113] Next, the control device 4 causes the robot 20 to grasp the anti-scattering cup 66 and remove it from the holder 17, transport the anti-scattering cup 66 to the lower plate jig 41, and place the anti-scattering cup 66 in the hole 47h of the intermediate plate jig 46 (step S22).

[0114] Thereafter, the control device 4 causes the robot 20 to grasp the supply cup 61 in the measuring device 14 (or holder 17) and transport the supply cup 61 (step S23). The polymer measured in the measuring step is stored in the storage space 63 of the supply cup 61. In this transport, the robot 20 transports the supply cup 61 to above the anti-scattering cup 66 arranged on the lower plate jig 41.

[0115] Then, the control device 4 tilts the supply cup 61 to supply the polymer into the through space 68 of the splash prevention cup 66 (step S24). At this time, the control device 4 adjusts the relative position of the splash prevention cup 66 and the supply cup 61 based on the image information of the camera 28, and controls so that the opening of the supply cup 61 and the opening of the splash prevention cup 66 are close to each other. The polymer supplied from the supply cup 61 to the through space 68 of the splash prevention cup 66 hits the lower plate jig 41 and bounces off, but the cylindrical body 671 of the splash prevention cup 66 prevents the polymer from splashing around.

[0116] After the polymer is supplied, the control device 4 returns the supply cup 61 held by the robot 20 to its original position (holder 17b) (step S25). Furthermore, the control device 4 controls the robot 20 to grip the splash prevention cup 66 and raise it upward, thereby separating the splash prevention cup 66 from the lower plate jig 41, and returns the splash prevention cup 66 to its original position (step S26).

[0117] Thereafter, the control device 4 causes the robot 20 to grip the fork jig 30 and move the fork jig 30, and transports the upper plate jig 51 by inserting the fork jig 30 into the pair of holding grooves 53 of the upper plate jig 51 (step S26). At this time, the pair of grippers 27 of the end effector 25 can hold the fork jig 30 immovably by the holding structure 33 (each of the gripping protrusions 274 and each of the gripping recesses 321) (see FIG. 5(B)). Therefore, the robot system 20A can transport the upper plate jig 51 supported by the fork jig 30 while stably maintaining its posture.

[0118] Finally, the control device 4 places the upper plate jig 51 on the lower plate jig 41 (step S28). At this time, the control device 4 moves the upper plate jig 51 parallel to the surface direction of the lower plate jig 41, and positions the upper plate jig 51 so that the shape of the upper plate jig 51 overlaps the shape of the lower plate jig 41. Note that when the upper plate jig 51 moves, the robot 20 may correct the coordinate position based on the marker 10m of the imaging information of the camera 28 to position the lower plate jig 41 and the upper plate jig 51.

[0119] Then, the control device 4 causes the robot 20 to lower the upper plate jig 51, which has been moved to directly above the lower plate jig 41, below the protruding positions of the frames 43, and in this lowered state causes the fork jig 30 to retreat toward the base end. As the fork jig 30 comes out, the guide surfaces 54 of the upper plate jig 51 are guided by the inclined surfaces 431 of the frames 43, and the relative position of the upper plate jig 51 with the lower plate jig 41 is adjusted (see also FIG. 8(B)).

[0120] By performing the above assembly process, the press automation system 2 can stably and highly reproducibly form the workpiece 59 in which a polymer is sandwiched between the lower plate jig 41 and the upper plate jig 51. Note that the robot system 20A continues to hold the fork jig 30 with the end effector 25 even after the assembly process, allowing for a smooth transition to the next first transfer process.

[0121] As shown in Fig. 1, in the first transport step (step S3), the control device 4 causes the robot 20 to transport the workpiece 59 assembled in the assembly step to the heat press device 80. At this time, the control device causes the fork jig 30 held by the robot 20 to enter the pair of holding grooves 44 of the lower plate jig 41, thereby lifting the lower plate jig 41. The intermediate plate jig 46 and the upper plate jig 51 move integrally with the lower plate jig 41, and the polymer sandwiched between them is transported without falling off.

[0122] 17(A) and 17(B), when the workpiece 59 is transported to the heat press device 80, the control device 4 adjusts the height positions of the fork jig 30 and the workpiece 59 to the height position of the placement recessed space 822a of the mounting section 82. After adjusting the height positions, the control device 4 causes the robot 20 to slide the fork jig 30 and the workpiece 59 in the horizontal direction.

[0123] Therefore, the workpiece 59 enters the rear side of the placement recessed space 822a while the side edge of the workpiece 59 is guided by the guide wall 822g of the placement portion 82. This allows the press automation system 2 to accurately position the workpiece 59 with respect to the placement portion 82 (press position). When the workpiece 59 is placed on the placement portion 82, the workpiece 59 protrudes from the upper surface of the placement portion 82 (placement member 822).

[0124] Returning to FIG. 1 , in the heat press process (step S4), the control device 4 outputs a control command to the heat press controller 89, and the workpiece 59 (polymer) is pressed under the control of the heat press controller 89. At this time, the heat press device 80 heats the placement section 82 and the press body 83 to a target temperature using the heater mechanism 84. After placing the workpiece 59 on the placement section 82, the robot system 20A returns the fork jig 30 to its original position, then grasps the thermocouple jig 70 and transports it to the heat press device 80. The robot system 20A then inserts the probe 73 of the thermocouple jig 70 into the measurement hole 45 of the workpiece 59 (lower plate jig 41), thereby enabling the temperature of the polymer to be measured. The control device 4 can adjust the temperature of the heater mechanism 84 by monitoring the measurement information measured by the thermocouple jig 70.

[0125] After the temperature of the polymer reaches the target temperature, the heat press device 80 lowers the press body 83 and presses the workpiece 59 with the set target pressure. As a result, the polymer sandwiched between the lower plate jig 41 and the upper plate jig 51 is pressed, and a press-molded product is produced on the heat press device 80.

[0126] Thereafter, in a second conveying step (step S5), the control device 4 operates the robot 20 to grasp and convey the fork jig 30, and the workpiece 59 of the heat press device 80 is held by the fork jig 30 and conveyed to the cold press device 90. The conveyance from the placement section 82 of the heat press device 80 to the placement section 92 of the cold press device 90 can be performed in the same manner as in the first conveying step (step S5).

[0127] Then, in the cold press step (step S6), the control device 4 outputs a control command to the cold press controller 99, and the workpiece 59 (polymer) is pressed a second time under the control of the cold press controller 99. At this time, the cold press device 90 cools the mounting section 92 and press body 93 to a target temperature using the cooling mechanism 94. Then, after the temperature of the polymer reaches the target temperature based on the measurement information from the thermocouple jig 70, the cold press device 90 lowers the press body 93 and presses the workpiece 59 with the set target pressure. As a result, the polymer sandwiched between the lower plate jig 41 and the upper plate jig 51 is pressed, and a twice-pressed press-molded product is produced as the workpiece 59.

[0128] Thereafter, in a return transport step (step S7), the control device 4 operates the robot 20 to grasp and transport the fork jig 30, and the workpiece 59 in the cold press device 90 is held by the fork jig 30 and transported to the work table 10. At this time, the robot 20 places the workpiece 59 in the original set position (position surrounded by the four holders 17a) of the lower plate jig 41. In other words, the original set position of the lower plate jig 41 is also the disassembly position when the workpiece 59 is disassembled.

[0129] In the disassembly process (step S8), the control device 4 operates the robot 20 to disassemble the workpiece 59 in the reverse order of the assembly process. At this time, the control device 4 removes the upper plate jig 51 from the lower plate jig 41 and returns it to its original position, and then removes the intermediate plate jig 46 from the lower plate jig 41 and returns it to its original position. This leaves the press-formed product on the upper surface (mounting area) of the lower plate jig 41.

[0130] In the analysis transport step (step S9), the control device 4 causes the robot 20 to transport the press-molded product to the demolding transport table 16, and then transports it together with the demolding transport table 16 to the removal device 15. The removal device 15 performs a process of peeling the press-molded product from the lower plate jig 41. The sample evaluation system 1 then temporarily holds the press-molded product removed from the lower plate jig 41 on the small transport table 13, and transports it to the analysis device 3 at an appropriate time using the robot 20 (or another transport device (conveyor, etc., not shown)). Note that the press-molded product may be peeled off manually by an operator, rather than by the operation of the removal device 15 or robot 20.

[0131] Finally, in the analysis step (step S10), the control device 4 outputs a control command to the analyzer 3 to which the press-molded product has been transported, causing the analyzer 3 to analyze the press-molded product by performing appropriate analysis processing. For example, as shown in Figures 18(A) and 18(B), the analyzer 3 captures an image of the press-molded product using an imaging unit (not shown), and calculates the circularity of the press-molded product by performing appropriate image processing on the captured image information. Figure 18(A) illustrates a press-molded product P1 with a high circularity, and Figure 18(B) illustrates a press-molded product P2 with a low circularity.

[0132] The analysis device 3 matches the calculated circularity, thickness, etc. of the press-molded products P1 and P2 with the conditions of the pressing process (target pressure of the press, heating temperature of the heat press device 80, pressing time of the heat press device 80, pressing time of the cold press device 90, etc.). Then, for example, the control device 4 resets the condition parameters of the pressing process (experiment) based on the polymer evaluation value analyzed by the analysis device 3, and reflects these condition parameters in the next sample evaluation method.

[0133] That is, the control device 4 performs the sample evaluation method using the condition parameters of the initial pressing process (experiment), and repeats the feedback process multiple times to reset the condition parameters of the experiment based on the analysis results of the obtained press-molded product, as shown in Fig. 19. In this way, the sample evaluation system 1 can significantly reduce the burden on the operator in evaluating the sample and obtain the optimum condition parameters for the pressing process depending on the sample to be analyzed.

[0134] The above-disclosed embodiment has, for example, the following aspects and effects. [Appendix 1] an end effector that holds a workpiece; an operating unit connected to the end effector and operating the end effector; A control unit that controls the operation of the operation unit, The control unit a step of operating the end effector to place a press object on a first plate jig placed at a set position, and then placing a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; and a step of holding the workpiece as the press object, the first plate jig, and the second plate jig together by the end effector, and transporting the workpiece to a press position where the press object is pressed. Robot system. [Effects of Appendix 1] The robot system described above enables smooth pressing at the press position, reduces the workload of the worker, and improves work efficiency. Furthermore, by sandwiching the workpiece (polymer) between the first plate jig and the second plate jig, the robot system can suppress misalignment of the workpiece and improve press accuracy. [Appendix 2] The control unit a step of holding the workpiece pressed at the press position and transporting it to a disassembly position by the end effector; and a step of operating the end effector at the disassembly position to separate the second plate jig from the first plate jig. 10. The robotic system of claim 1. [Effects of Appendix 2] This allows the robot system to smoothly dismantle the pressed workpiece at the dismantling position, further reducing the burden on the user and improving work efficiency. [Appendix 3] the pressing position includes a first position where the object to be pressed is pressed while being heated; In the step of transporting the workpiece, the control unit transports the workpiece to the first position, and after pressing, transports the workpiece to the disassembly position. 10. The robotic system of claim 2. [Effects of Appendix 3] This allows the robot system to press the workpiece (polymer) while heating it at the first position, and then immediately return the workpiece to the disassembly position to obtain a press-molded product. [Appendix 4] the pressing positions include a first position where the object to be pressed is pressed while being heated, and a second position where the object to be pressed is pressed while being cooled, In the step of transporting the workpiece, the control unit first transports the workpiece to the first position, and then transports the workpiece after being pressed at the first position from the first position to the second position. 3. The robotic system of claim 1 or 2. [Effects of Appendix 4] This allows the robot system to press the object (polymer) while heating it at the first position, and then press the object while cooling it at the second position, allowing the robot system to accurately produce a press-molded product at a target temperature. [Appendix 5] the end effector has an imaging unit that images an object and transmits the imaging information to the control unit; the control unit moves the end effector to a target position based on information on position coordinates of the object stored in advance, and corrects a positional deviation of the end effector with respect to the target position based on the imaging information. 5. A robot system according to any one of claims 1 to 4. [Effects of Appendix 5] This allows the robot system to grasp an object with the end effector 25 with high precision. [Appendix 6] The target object includes a feature point of a work table on which the first plate jig and the second plate jig are placed, or a feature point installed on the press device. The robot system described in Appendix 5. [Effects of Appendix 6] This allows the robot system to move the end effector with high precision relative to the positions of the jigs (first plate jig, second plate jig) on ​​the work table and the press position based on the feature points included in the imaging information. [Appendix 7] In the step of assembling the workpiece, the control unit moves the second plate jig parallel to a surface direction of the first plate jig to face the first plate jig. 7. A robot system according to any one of claims 1 to 6. [Effects of Appendix 7] This allows the robot system to smoothly assemble the first plate jig and the second plate jig. [Appendix 8] one of the first plate jig and the second plate jig has a frame body, and the other of the first plate jig and the second plate jig has a guide surface that is guided by the frame body; the control unit brings the guide surface into contact with the frame body when moving the second plate jig relative to the first plate jig in the process of assembling the workpiece. 8. A robot system according to any one of claims 1 to 7. [Effects of Appendix 8] As a result, even if there is a misalignment between the first plate jig and the second plate jig when the second plate jig moves, the robot system can use the frame and guide surface to guide and position the relative positions of the first plate jig and the second plate jig. [Appendix 9] the press position has an arrangement recessed space that matches the shape of the first plate jig on the tip side in the approach direction in which the workpiece approaches the press position, the control unit positions the workpiece by moving the workpiece horizontally and bringing the workpiece into contact with a guide wall that forms the placement recessed space in the step of transporting the workpiece to the press position; 9. A robot system according to any one of claims 1 to 8. [Effects of Appendix 9] This allows the robot system to guide the workpiece by the guide wall when moving it into the placement recessed space, and to position it at the press position with high accuracy. [Appendix 10] the control unit, in the step of assembling the workpiece, places a cylindrical body on the first plate jig, and then places the press object inside the cylindrical body, thereby placing the press object on the first plate jig; Furthermore, after removing the cylindrical body, the second plate jig is placed on the first plate jig. 10. The robot system according to any one of claims 1 to 9. [Effects of Appendix 10] This allows the robot system to effectively prevent the object to be pressed from flying off the first plate jig during the process of assembling the workpiece. [Appendix 11] The end effector a pair of gripping bodies that can approach and move away from each other under an operation command from the control unit; the control unit switches a jig having grips that can be gripped by the set of grippers to another jig having grips during the operation of placing the press object on the first plate jig and the operation of overlapping the first plate jig and the second plate jig. 11. A robot system according to any one of claims 1 to 10. [Effects of Appendix 11] This allows the robot system to easily and quickly perform the operations of placing the object to be pressed on the first plate jig and overlapping the first plate jig and the second plate jig by switching the jigs. [Appendix 12] The plurality of jigs include: a supply cup for containing the object to be pressed; a fork jig having a plurality of forks that can enter under the first plate jig or the second plate jig and lift the first plate jig or the second plate jig, 12. The robotic system of claim 11. [Effects of Appendix 12] This allows the robot system to easily perform the operation of placing the press object on the first plate jig and the operation of holding the first plate jig and the second plate jig. [Appendix 13] The plurality of jigs include a temperature detector that detects the temperature of the workpiece, the control unit grips the temperature detector with the set of grippers and inserts the temperature detector into the workpiece placed at the press position. 13. The robot system of claim 11 or 12. [Effects of Appendix 13] This allows the robot system to measure the temperature of the object to be pressed using the temperature detector when pressing the workpiece, and allows the pressing to be carried out at an appropriate temperature. [Appendix 14] A robot including an end effector that holds a workpiece and an operating unit that is connected to the end effector and operates the end effector; a press device that presses a press object contained in the workpiece transported by the robot; and a control unit that controls the robot and the press device, The control unit a step of operating the end effector to place the press object on a first plate jig placed at a set position, and then placing a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; a step of holding the press object as the workpiece, the first plate jig, and the second plate jig together by the end effector, and transporting the workpiece from the set position to the press device; and pressing the object to be pressed by pressing the first plate jig and the second plate jig with the press device. Press automation system. [Effects of Appendix 14] As a result, the press automation system can reduce the workload on the user, improve work efficiency, and improve press accuracy. [Appendix 15] The end effector is operated at a setting position where the workpiece is set, and the press object is placed on the first plate jig. After placement, the second plate jig is placed on the first plate jig, thereby assembling the workpiece in a form in which the press object is sandwiched between them. a robot command unit that outputs a command to a robot system to have the end effector integrally hold the press object as the workpiece, the first plate jig, and the second plate jig, and transport the workpiece from the set position to a press device; a press command unit that outputs a command to the press device to press the object to be pressed; and an analysis command unit that outputs a command to an analysis device to analyze the pressed object. program. [Effects of Appendix 15] This allows the program to link both the robot system and the analytical device, thereby reducing the user's workload, improving work efficiency, and improving press accuracy. [Appendix 16] A press jig that holds a press object, is transported to a press device, and is pressed by the press device, a first plate jig on which the press object is placed at a set position; a second plate jig that is placed on the first plate jig on which the press object is placed to form a workpiece sandwiching the press object; The press jig is: the first plate jig and the second plate jig can be transported to the press device in a state in which the press object is sandwiched between them, After the press device is placed, the first plate jig and the second plate jig are pressed by the press device to press the press object. Press jig. [Effects of Appendix 16] This allows the press jig to stably clamp the workpiece while transporting it to the press position, where it is pressed, thereby reducing the user's workload, improving work efficiency, and improving press accuracy.

[0135] The press automation system 2, robot system 20A, press jig 40, and program 100 according to the presently disclosed embodiments are illustrative in all respects and are not limiting. The embodiments may be modified and improved in various ways without departing from the spirit and scope of the appended claims. The features described in the above embodiments may be configured differently and may be combined within the scope of the appended claims. [Explanation of symbols]

[0136] 4. Control device 20. Robot 20A Robot System 21 Operating unit 25 End Effector 40 Press jig 41 Lower plate jig (first plate jig) 51 Upper plate jig (second plate jig) 59 Work

Claims

1. an end effector that holds a workpiece; an operating unit connected to the end effector and operating the end effector; A control unit that controls the operation of the operation unit, The control unit a step of operating the end effector to place a press object on a first plate jig placed at a set position, and then placing a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; a step of transporting the workpiece, which is the workpiece to be pressed, by the end effector, while integrally holding the workpiece, the first plate jig, and the second plate jig, to a press position where the workpiece is pressed; a step of holding the workpiece pressed at the press position and transporting it to a disassembly position by the end effector; and a step of operating the end effector at the disassembly position to separate the second plate jig from the first plate jig. Robot system.

2. the pressing position includes a first position where the object to be pressed is pressed while being heated; The control unit, in the step of transporting the workpiece, transports the workpiece to the first position, and after pressing, transports the workpiece to the disassembly position. The robot system of claim 1 .

3. An end effector that holds a workpiece; an operating unit connected to the end effector and operating the end effector; A control unit that controls the operation of the operation unit, The control unit a step of operating the end effector to place a press object on a first plate jig placed at a set position, and then placing a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; a step of holding the workpiece as the press object, the first plate jig, and the second plate jig together by the end effector, and transporting the workpiece to a press position where the press object is pressed; the pressing positions include a first position where the object to be pressed is pressed while being heated, and a second position where the object to be pressed is pressed while being cooled, In the step of transporting the workpiece, the control unit first transports the workpiece to the first position, and then transports the workpiece after being pressed at the first position from the first position to the second position. Robot system.

4. An end effector that holds a workpiece; an operating unit connected to the end effector and operating the end effector; A control unit that controls the operation of the operation unit, The control unit a step of operating the end effector to place a press object on a first plate jig placed at a set position, and then placing a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; a step of holding the workpiece as the press object, the first plate jig, and the second plate jig together by the end effector, and transporting the workpiece to a press position where the press object is pressed; one of the first plate jig and the second plate jig has a frame body, and the other of the first plate jig and the second plate jig has a guide surface that is guided by the frame body; the control unit brings the guide surface into contact with the frame body when moving the second plate jig relative to the first plate jig in the process of assembling the workpiece. Robot system.

5. An end effector that holds a workpiece; an operating unit connected to the end effector and operating the end effector; A control unit that controls the operation of the operation unit, The control unit a step of operating the end effector to place a press object on a first plate jig placed at a set position, and then placing a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; a step of holding the workpiece as the press object, the first plate jig, and the second plate jig together by the end effector, and transporting the workpiece to a press position where the press object is pressed; the press position has an arrangement recessed space that matches the shape of the first plate jig on a tip side in an approach direction in which the workpiece approaches the press position, the control unit positions the workpiece by moving the workpiece horizontally and bringing the workpiece into contact with a guide wall that forms the placement recessed space in the step of transporting the workpiece to the press position; Robot system.

6. An end effector that holds a workpiece; an operating unit connected to the end effector and operating the end effector; A control unit that controls the operation of the operation unit, The control unit a step of operating the end effector to place a press object on a first plate jig placed at a set position, and then placing a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; a step of holding the workpiece as the press object, the first plate jig, and the second plate jig together by the end effector, and transporting the workpiece to a press position where the press object is pressed; the control unit, in the step of assembling the workpiece, places a cylindrical body on the first plate jig, and then places the press object inside the cylindrical body to place the press object on the first plate jig; Furthermore, after removing the cylindrical body, the second plate jig is placed on the first plate jig. Robot system.

7. An end effector that holds a workpiece; an operating unit connected to the end effector and operating the end effector; A control unit that controls the operation of the operation unit, The control unit a step of operating the end effector to place a press object on a first plate jig placed at a set position, and then placing a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; a step of holding the workpiece as the press object, the first plate jig, and the second plate jig together by the end effector, and transporting the workpiece to a press position where the press object is pressed; The end effector a pair of gripping bodies that can approach and move away from each other under an operation command from the control unit; the control unit switches a jig having grips that can be gripped by the set of grippers to another jig having grips during the operation of placing the press object on the first plate jig and the operation of overlapping the first plate jig and the second plate jig. Robot system.

8. The plurality of jigs include: a supply cup for accommodating the object to be pressed; a fork jig having a plurality of forks that can enter under the first plate jig or the second plate jig and lift the first plate jig or the second plate jig, The robot system according to claim 7 .

9. The plurality of jigs include a temperature detector that detects the temperature of the workpiece, the control unit grips the temperature detector with the set of grippers and inserts the temperature detector into the workpiece placed at the press position. The robot system according to claim 7 .

10. the end effector has an imaging unit that images an object and transmits the imaging information to the control unit; the control unit moves the end effector to a target position based on information on position coordinates of the object stored in advance, and corrects a positional deviation of the end effector with respect to the target position based on the imaging information. The robot system according to any one of claims 1 to 9.

11. The target object includes a feature point of a work table on which the first plate jig and the second plate jig are placed, or a feature point installed at the press position. The robot system of claim 10.

12. the control unit moves the second plate jig parallel to a surface direction of the first plate jig to face the first plate jig in the step of assembling the workpiece; The robot system according to any one of claims 1 to 9.

13. A robot including an end effector that holds a workpiece and an operating unit that is connected to the end effector and operates the end effector; a press device that presses a press object contained in the workpiece transported by the robot; and a control unit that controls the robot and the press device, The control unit a step of operating the end effector to place the press object on a first plate jig placed at a set position, and then stacking a second plate jig on the first plate jig after the placement, thereby assembling the workpiece in a form in which the press object is sandwiched; a step of holding the press object as the workpiece, the first plate jig, and the second plate jig together by the end effector, and transporting the workpiece from the set position to the press device; a step of pressing the object by pressing the first plate jig and the second plate jig with the press device; a step of holding the workpiece pressed by the press device and transporting it to a disassembly position by the end effector; and a step of operating the end effector at the disassembly position to separate the second plate jig from the first plate jig. Press automation system.

14. The end effector is operated at a setting position where the workpiece is set, and the press object is placed on the first plate jig. After placement, the second plate jig is placed on the first plate jig, thereby assembling the workpiece in a form in which the press object is sandwiched between them. a robot command unit that outputs a command to a robot system to cause the end effector to integrally hold the press object as the workpiece, the first plate jig, and the second plate jig, and to transport the workpiece from the set position to a press device; a press command unit that outputs a command to the press device to press the object to be pressed; and an analysis command unit that outputs a command to an analysis device to analyze the pressed object, Furthermore, after the press object has been pressed, the robot command unit outputs a command to the robot system to hold the workpiece pressed by the press device with the end effector and transport it to a disassembly position, and to operate the end effector at the disassembly position to detach the second plate jig from the first plate jig. program.

15. A press jig that holds a press object, is transported to a press device, and is pressed by the press device, a first plate jig on which the pressing object is placed at a set position; a second plate jig that is placed on the first plate jig on which the press object is placed to form a workpiece sandwiching the press object, one of the first plate jig and the second plate jig has a frame body, and the other of the first plate jig and the second plate jig has a guide surface that is guided by the frame body; The press jig is: The second plate jig moves relative to the first plate jig with the guide surface in contact with the frame body, and the object to be pressed is sandwiched between the second plate jig and the first plate jig. the first plate jig and the second plate jig can be transported to the press device in a state in which the press object is sandwiched between them, After the press device is placed, the first plate jig and the second plate jig are pressed by the press device to press the press object. Press jig.

Images