robot systems

Abstract

To provide a technique which can firmly grip a gripping target at the time of transferring the gripping target through a robot.SOLUTION: A robot comprises: an end effector which includes a pair of gripping bodies that grips a gripping target; and an action part which is connected to the end effector so as to cause the pair of gripping bodies to approach to or alienate from each other. One of the pair of gripping bodies and the gripping target includes a plurality of protrusions for gripping, and the other of the pair of gripping bodies and the gripping target includes a plurality of recesses for gripping which are engaged with the plurality of protrusions for gripping by inserting the plurality of protrusions for gripping thereinto at the time of action of the pair of gripping bodies.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This disclosure relates to ,B a bot system.

Background Art

[0002] Conventionally, in order to analyze the characteristics of a sample such as a polymer, a polymer (press target) is pressed by a press device, and the crushed polymer (press-molded product) is evaluated. In this experiment for analyzing the polymer, the polymer pressing and the polymer evaluation are performed multiple times by changing the experimental condition parameters. Therefore, it 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 a polymer and automatically presses the polymer.

[0003] Patent Document 1 discloses a press process automation system that uses a robot to transport a metal plate to a press die part and press the metal plate, although it is not a system for evaluating a sample. This type of robot is required to firmly grip and transport the gripping target.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] This disclosure provides a technique capable of firmly gripping a gripping target when transporting the gripping target by a robot.

Means for Solving the Problems

[0006] According to one aspect of the present disclosure, a robot is provided comprising: an end effector having a pair of gripping bodies for gripping an object to be gripped; and an operating unit connected to the end effector for moving the pair of gripping bodies closer together and further apart from each other, wherein one of the pair of gripping bodies and the object to be gripped has a plurality of gripping protrusions, and the other of the pair of gripping bodies and the object to be gripped has a plurality of gripping recesses into which each of the plurality of gripping protrusions is inserted and engages with the plurality of gripping protrusions when the pair of gripping bodies are operating.

[0007] According to the above, the robot can firmly grip an object to be gripped by the engagement of each of the multiple gripping protrusions and each of the multiple gripping recesses during the operation of a set of gripping bodies.

[0008] Furthermore, each of the multiple gripping protrusions is formed in a conical shape that tapers towards the protruding direction from the connecting portion, and each of the multiple gripping recesses is formed in a conical funnel shape that decreases in diameter from the opening towards the depth. As a result, even if the positions of each gripping protrusion and each gripping recess are slightly misaligned, the gripping protrusions guide the insertion of each gripping recess, allowing for easy positioning of both.

[0009] Furthermore, the plurality of gripping protrusions protrude from the pair of gripping bodies and are integrally molded with the pair of gripping bodies from a metal material, while the plurality of gripping recesses are formed by being recessed from one surface of a block made of metal material. As a result, the robot can grip the object to be gripped even more firmly with the pair of gripping bodies.

[0010] Furthermore, the pair of gripping bodies is provided in a pair on the end effector, the object to be gripped has a grip, and the plurality of gripping protrusions are provided on the opposing surfaces of the pair of gripping bodies, and as the pair of gripping bodies approach each other, they are inserted into the plurality of gripping recesses provided on the pair of sides of the grip. This allows the robot to smoothly grip the grip of the object to be gripped using the end effector.

[0011] Furthermore, multiple types of gripping targets are provided, and the end effector switches between these multiple types of gripping targets to perform different operations. This allows the robot to easily switch between multiple types of gripping targets and perform appropriate operations.

[0012] Another aspect of the present disclosure is a robot system comprising: an end effector having a pair of gripping bodies for gripping an object to be gripped; a robot connected to the end effector and having an operating unit for moving the pair of gripping bodies closer to and further apart from each other; an imaging unit provided on the end effector for imaging the object to be gripped by the end effector or imaging indicators set around the object to be gripped; and a control unit for receiving imaging information captured by the imaging unit and controlling the operation of the end effector, wherein one of the pair of gripping bodies and the object to be gripped has a plurality of gripping protrusions, and the other of the pair of gripping bodies and the object to be gripped has a plurality of gripping recesses into which each of the plurality of gripping protrusions is inserted and engages with the plurality of gripping protrusions when the pair of gripping bodies is in operation; and the control unit corrects the positional deviation of the end effector relative to the target position based on the imaging information when the end effector is moved near the target position based on pre-held positional coordinate information of the object to be gripped. Even in this case, the robot system can firmly grasp the object to be grasped. Moreover, the robot system can grasp the object with high precision by correcting the positional deviation of the end effector relative to the target position based on the imaging information.

[0013] Furthermore, the control unit moves the set of gripping bodies based on the gripping target or imaging indicator included in the imaging information, and positions the gripping target between the set of gripping bodies. As a result, the robot system can stably hold the gripping target with the set of gripping bodies. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic diagram illustrating the overall configuration of a sample evaluation system according to one embodiment. [Figure 2] It is a block diagram showing the communication form between the control device and each device. [Figure 3] It is a perspective view showing the overall configuration of the press automation system. [Figure 4] It is a perspective view showing an enlarged view of the gripping of the end effector of the robot system. [Figure 5] FIG. 5(A) is a plan view showing the gripping of the end effector and the fork jig. FIG. 5(B) is a side view showing the gripping of the end effector and the fork jig. [Figure 6] It is a perspective view showing the robot system and a plurality of jigs. [Figure 7] FIG. 7(A) is a plan view showing a plurality of jigs on the workbench. FIG. 7(B) is a plan view showing an enlarged view of a part of the workbench. [Figure 8] FIG. 8(A) is a plan view showing the press jig. FIG. 8(B) is a perspective view showing the state where the press jig is assembled to the workpiece. [Figure 9] FIG. 9(A) is a perspective view showing the supply cup. FIG. 9(B) is a perspective view showing the splash-proof cup. [Figure 10] It is a perspective view showing the thermocouple jig. [Figure 11] It is a side view showing the press body of the heat press device. [Figure 12] It is a perspective view showing the mounting portion of the heat press device. [Figure 13] It is a block diagram showing the functional blocks of the control device. [Figure 14] It is a flowchart showing the processing flow of the sample evaluation method. [Figure 15] It is a flowchart showing the operation flow when gripping the jig by the robot system. [Figure 16] It is a flowchart showing the assembly process of the workpiece. [Figure 17] FIG. 17(A) is a side view showing the operation when placing the workpiece on the heat press device. FIG. 17(B) is a plan view showing the operation when placing the workpiece on the heat press device. [Figure 18] FIG. 18(A) is a diagram showing a press-molded product of the first example. FIG. 18(B) is a diagram showing a press-molded product of the second example. [Figure 19] It is a block diagram illustrating a method for setting experimental parameters in sample evaluation.

MODE FOR CARRYING OUT THE INVENTION

[0015] Hereinafter, embodiments for carrying out the present disclosure will be described with reference to the drawings. In each drawing, the same reference numerals are given to the same constituent parts, and redundant descriptions may be omitted. In the following description, the X-axis direction, the Y-axis direction, and the Z-axis direction used are axial directions that are perpendicular to each other, the X-axis direction and the Y-axis direction are horizontal directions, and the Z-axis direction is a vertical direction.

[0016] A sample evaluation system 1 according to an embodiment includes, as shown in FIG. 1, a press automation system 2 that conveys a polymer (resin) as a sample to a plurality of workplaces and performs operations such as pressing, and an analyzer 3 that evaluates the created press-molded product. Further, the sample evaluation system 1 has a control device (control unit) 4 that controls each device of the press automation system 2 and the analyzer 3.

[0017] The automated press system 2 includes, for example, a workbench 10, a robot 20, a heat press device 80, and a cold press device 90. The automated press system 2 assembles a workpiece containing polymer (see also Figure 8(B)) on the workbench 10 using the robot 20. The automated press system 2 then uses the robot 20 to sequentially transport the workpiece to two types of press devices (heat press device 80 and cold press device 90), and presses the polymer in each press device to create a press-formed product. The automated press system 2 is not limited to having two types of press devices (heat press device 80 and cold press device 90), but may use one type of press device or three or more types of devices. Furthermore, the automated press system 2 may use a press device that does not heat or cool the polymer, or it may be configured to press the polymer by adjusting to multiple temperatures in a single press device.

[0018] As shown in Figure 2, the control device 4 has one or more processors 4a, memory 4b, input / output interface 4c, and communication interface 4d, and is configured as a computer that controls the entire sample evaluation system 1. The one or more processors 4a are a combination of one or more of the following: CPU (Central Processing Unit), GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), circuit consisting of multiple discrete semiconductors, etc. The memory 4b includes non-volatile memory and volatile memory (e.g., compact disc, DVD (Digital Versatile Disc), hard disk, flash memory, etc.) and forms the storage unit of the control device 4.

[0019] Furthermore, an input / output device 5, which is an operator interface that can be operated and viewed by the operator of the sample evaluation system 1, is connected to the input / output interface 4c. The input / output device 5 can be, for example, a monitor, mouse, keyboard, touch panel (including tablet devices, smartphones, etc.), speaker, microphone, etc., as appropriate.

[0020] The communication interface 4d communicates information between the robot 20, heat press device 80, cold press device 90, and analysis device 3 and the control device 4 via a communication network 6 that is capable of wired or wireless communication. The communication network 6 may be a WAN (Wide Area Network), LAN (Local Area Network), PAN (Personal Area Network), or a combination thereof. An example of a WAN is the Internet, an example of a LAN is IEEE 802.11 or Ethernet (registered trademark), and an example of a PAN is Bluetooth (registered trademark) or NFC (Near Field Communication).

[0021] The robot 20 is equipped with a robot controller 29 that communicates with the control device 4 and operates the robot 20. The heat press device 80 is equipped with a heat press controller 89 that communicates with the control device 4 and operates the heat press device 80. The cold press device 90 is equipped with a cold press controller 99 that communicates with the control device 4 and operates the cold press device 90. The analysis device 3 is equipped with an analysis control unit 3c that communicates with the control device 4 and operates the analysis device 3.

[0022] The memory 4b of the control device 4 stores a program 100 that controls the sample evaluation system 1. The program 100 is read and executed by the processor 4a, forming multiple functional units within the control device 4 that control the entire sample evaluation system 1. The control device 4 outputs control commands to the press automation system 2 (robot 20, heat press device 80, cold press device 90) and the analysis device 3 at appropriate timings 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 creation of press-formed products by the press automation system 2 with the analysis of press-formed products by the analysis device 3.

[0023] In Figure 2, a single computer is shown as the control device 4 of the sample evaluation system 1. However, the software may be installed on multiple computers, and each of these computers may execute the same or different parts of the software's processing. In this case, it may be a distributed computing configuration in which each computer communicates with others to execute the processing. For example, the control device 4 can be composed of a computer for the Robot Operating System (ROS) connected to each device, and multiple control computers connected to this ROS computer. Alternatively, the control device 4 of the sample evaluation system 1 may be configured to process information transmitted from a terminal on one or more computers located in the cloud, and then transmit the processing results to the terminal.

[0024] As shown in Figure 3, the press automation system 2 has a robot 20 as its reference point, with a workbench 10, a heat press device 80, and a cold press device 90 arranged around it. The workbench 10, the heat press device 80, and the cold press device 90 are arranged to form an L-shape in plan view (see also Figure 1). The workbench 10 is formed in a rectangular shape that extends long along the Y-axis 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 in a line along the X-axis direction. Note that the arrangement of the workbench 10 and each device in the press automation system 2 is not limited to an L-shape and may be set at the operator's discretion.

[0025] The workbench 10 in the press automation system 2 forms a workspace where the robot 20 assembles and disassembles workpieces containing polymers. For example, the workbench 10 includes a base 11, a work platform 12 installed on the base 11, and a transport platform 13 also installed on the base 11 so as to be aligned with the work platform 12 in the Y-axis direction. The workbench 10 may be a single platform (a base 11 on which the work platform 12 and the transport platform 13 are connected in a series).

[0026] The base 11 has a rectangular and flat top plate in plan view, and a plurality of legs that support this 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 platform 12 and the transport platform 13, a weighing device 14, a retrieval device 15, etc. are installed on the top plate of the base 11.

[0027] The work platform 12 is a platform for assembling and disassembling workpieces containing the polymer described above. The press automation system 2 is equipped with several types of jigs (holding objects) 19 on the upper surface of the work platform 12 for assembling and disassembling workpieces. These several types of jigs 19 will be described in detail later. On the other hand, the transport platform 13 separates the press-formed product created by the press automation system 2 from the jig 19 (lower plate jig 41) and forms a place to wait for transport before transporting the press-formed product to the analysis device 3.

[0028] The work surface (top surface) of the work platform 12 and the work surface (top surface) of the transport platform 13 are set to a height that the robot 20's end effector 25 can reach. The base 11, work platform 12, and transport platform 13 may be equipped with adjustment parts (e.g., level adjusters) (not shown) that can adjust the height and parallelism of each top surface.

[0029] The weighing device 14 is installed adjacent to the work platform 12 and weighs the polymer, which is the object 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 is located on the bottom surface 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. In addition, the side of the weighing device 14's case that is close to the robot 20 is open, allowing the robot 20's end effector 25 to enter the case. For example, the robot 20 tilts a container of granulated polymer with the supply cup 61 (see Figure 6), which is a jig 19, placed on the measuring unit. The control device 4 monitors the measurement information from the measuring unit and commands the robot 20 to supply an appropriate amount of polymer to the supply cup 61.

[0030] The removal device 15 is installed adjacent to the transport platform 13 and, when the press-formed product is attached to the jig 19, it detaches the press-formed product from the jig 19 and removes the press-formed product. This removal device 15 can be a well-known die-cutting device, ejector device, etc.

[0031] The robot 20 of the press automation system 2 has an operating unit 21 and an end effector 25 that moves 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, in this embodiment, the system combining the control device 4 and the robot 20 will also be referred to as the robot system 20A.

[0032] 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 mounted on the upper part of the base 22, and a plurality of joints 24 connecting each arm 23 to each other. Three or more arms 23 are provided (for example, seven in this embodiment), and each has a wrist portion 231 at its end.

[0033] Multiple joints 24 are provided between adjacent arms 23, allowing the end arm 23 to move relative to the arm 23 on the base 22. The robot 20 is equipped with joint motors inside the base 22 and each joint 24 (or arm 23). The robot 20 also has multiple motor drivers that supply power to each joint motor under the control of the robot controller 29, allowing each joint 24 to operate independently.

[0034] As shown in Figure 4, the end effector 25 of the robot 20 is attached to the wrist portion 231 (the end of the multiple arms 23). In this embodiment, the end effector 25 employs a clamping mechanism that grips the jig 19, which is the object to be gripped, with a pair of gripping bodies 27. Specifically, the end effector 25 has a rectangular housing 26 fixed to the wrist portion 231, and a pair of gripping bodies 27 are arranged on the end surface (tip surface) of the housing 26. Inside the housing 26, there is a gripping body operation unit 26a that operates the pair of gripping bodies 27. The gripping body operation unit 26a has a motor and multiple gears (not shown), and under the control of the robot controller 29, it moves the pair of gripping bodies 27 closer together and further apart along the longitudinal direction of the end surface.

[0035] Each pair of gripping bodies 27 has a base end 271 housed within the housing 26, an intermediate portion 272 connected to the tip of the base end 271 and inclined to narrow 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 gripping bodies 27 move closer to each other by the gripping body operating unit 26a, they can grip an object to be gripped placed between the protruding ends 273, and the object to be gripped can be moved under the operation of the operating unit 21. The object to be gripped by the pair of gripping bodies 27 is one of the following jigs 19 placed on the workbench 10, and in Figure 4, a fork jig 30 is shown as an example.

[0036] Furthermore, the robot system 20A forms a holding structure 33 between the end effector 25 and the multiple jigs 19. Therefore, each of the multiple jigs 19 has a structure (in Figure 4, the grip 32 of the fork jig 30) that is held by a pair of gripping bodies 27.

[0037] As shown in Figures 5(A) and 5(B), each gripping body 27 of the end effector 25 has a plurality (two) of gripping protrusions 274 on the inner opposing surface of the protruding end 273 as one of the holding structures 33. Each gripping protrusion 274 is integrally molded with the gripping body 27 from a metal material. Each gripping protrusion 274 protrudes a short distance from the opposing surface of each gripping body 27, and its outer peripheral surface 274c is formed in a conical shape that tapers from the opposing surface of one connected gripping body 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 273.

[0038] On the other hand, the grip 32 of the fork jig 30 protrudes inclined from the upper surface of the fork body 31. The grip 32 is formed from a metal material into a wide block shape and has rigidity that does not deform even when gripped by a pair of gripping bodies 27. As the other half of the holding structure 33, the grip 32 is provided with a plurality (2) of recessed gripping recesses 321 on each of its pair of sides. The inner circumferential surface 321t of each gripping recess 321 is formed in a tapered shape (conical funnel shape) that decreases in diameter from the opening towards the depth. The inclination of the inner circumferential surface 321t is approximately the same as the inclination of the outer circumferential surface 274c of the gripping body 27. The two gripping recesses 321 are provided side by side along the protruding direction of the grip 32.

[0039] When the robot 20 grasps the target jig 19 (fork jig 30 in Figure 5), it positions a pair of gripping bodies 27 so that they face both sides of the grip 32, and then brings the gripping bodies 27 close together. When the gripping bodies 27 are brought close together, the conical outer surface 274c of each gripping projection 274 is guided into the tapered inner surface 321t of each gripping recess 321. As a result, the opposing surfaces of the pair of gripping bodies 27 contact both sides of the grip 32, gripping the grip 32 by fitting the gripping projection 274 and the gripping recess 321 together. Therefore, the holding structure 33 can restrict the rotation of the grip 32 (i.e., the object being gripped (jig 19)) relative to the end effector 25. Thus, the end effector 25 can firmly grip the jig 19 even when a load is applied from the body of the jig 19.

[0040] Returning to Figure 4, the robot system 20A according to this embodiment has a camera (imaging unit) 28 installed in the housing 26 of the end effector 25. The camera 28 is a compound-eye imaging device that images the portion beyond the pair of gripping bodies 27 and transmits each image to the control device 4 (or robot controller 29). Based on the image information transmitted from the camera 28, the control device 4 recognizes the marker 10m on the workbench 10, etc. Basically, the control device 4 moves the end effector 25 by operating multiple joints 24 based on a preset 3D target position (position coordinates). When approaching the 3D target position, the control device 4 corrects the movement of the end effector 25 based on the 3D position extracted from each image. As a result, the robot system 20A can accurately guide the end effector 25 toward the target indicator (for example, the center line of the grip 32) of the target object to be gripped (jig 19), and stably grip the object with the pair of gripping bodies 27.

[0041] Next, we will explain in detail each of the multiple jigs 19 provided for the press automation system 2. As shown in Figure 6, the robot system 20A moves the end effector 25 relative to the work platform 12 and assembles the workpiece that holds the polymer using the multiple jigs 19 set on the work platform 12.

[0042] The workbench 12 is pre-set with several jigs 19, including a fork jig 30, a press jig 40, a cup jig 60, and a thermocouple jig (temperature detector) 70. The press jig 40 is the main jig for forming a workpiece containing 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 polymer on the lower plate jig 41, and includes a supply cup 61 and a splash-proof cup 66. Furthermore, the workbench 12 is pre-installed with a die-cutting transport table 16 for disassembling the workpiece containing the press-formed product after pressing and transporting it to the removal device 15.

[0043] As shown in Figures 6 and 7(A), the work platform 12 has a rectangular top plate 121, and a work surface 12s is formed on this top plate 121 on which the die-cutting transport table 16 and each jig 19 can be set. Along the short side of the work platform 12 (X-axis direction), on the side closer to the robot 20, the upper plate jig 51, lower plate jig 41, intermediate plate jig 46, and die-cutting transport table 16 are arranged in order toward the negative Y-axis direction. Along the short side of the work platform 12, on the side further away from the robot 20, the thermocouple jig 70, fork jig 30, splash prevention cup 66, and supply cup 61 are arranged in order toward the negative Y-axis direction. Of course, each jig 19 can be placed at the operator's discretion.

[0044] Multiple holders 17 for holding the die-cutting conveyor table 16 and each jig 19 are installed on the work surface 12s. Each holder 17 is screwed to the top plate 121 by screwing multiple fixing screws 18 through through holes (not shown) in each holder 17 into multiple screw holes 12h formed on the work surface 12s. The multiple screw holes 12h are formed at regular intervals (e.g., 30 mm) and are arranged in a matrix in the X-axis and Y-axis directions.

[0045] Each holder 17 is formed in a shape appropriate to the shape of the die-cutting conveying table 16 and each jig 19. For example, as shown in Figure 7(B), when holding the upper plate jig 51, four holders 17a are used, each having a first stepped portion 171 fixed to a fixing screw 18, and a second stepped portion 172 connected to the first stepped portion 171 and formed lower than the first stepped portion 171.

[0046] Two of the four holders 17a are fixed in positions to support both sides of the upper plate jig 51 in the X-axis direction (the side on the side where the robot 20 is installed and the side opposite to it), and the remaining two holders 17a are fixed in positions to support both sides of the upper plate jig 51 in the Y-axis direction. When the upper plate jig 51 is set up, its side edges are close to or in contact with the first stepped portion 171, and its lower surface is supported by the second stepped portion 172 of each holder 17a, so that it is slightly elevated from the work surface 12s. The lower plate jig 41 and the die-cutting transport table 16 are also held by four holders 17a fixed to the work surface 12s according to their respective shapes, similar to the upper plate jig 51. The intermediate plate jig 46 is held by three holders 17a on one side in the X-axis direction and both sides in the Y-axis direction, and is also held by a holder 17b that can cover the area around the grip 48.

[0047] For example, the fork jig 30, the cup jig 60 (supply cup 61, splash-proof cup 66), and the thermocouple jig 70 are held by rectangular holders 17b that can cover their respective periphery. The holders 17b have retaining grooves that correspond to the shape of the jigs, and each jig is housed within the retaining grooves, thereby being held so as not to move horizontally.

[0048] As shown in Figure 4, the fork jig 30 holds the upper plate jig 51 by moving into the underside of the upper plate jig 51 as the end effector 25 moves while the robot 20 is gripping it. Also, the fork jig 30 holds the lower plate jig 41 by moving into the underside of the lower plate jig 41 as the end effector 25 moves while the robot 20 is gripping it.

[0049] As described above, this fork jig 30 is constructed by connecting a fork body 31 and a grip 32. The fork body 31 has a pair (two) rod-shaped flat plates 31a that extend substantially parallel to each other, and a connecting plate 31b that connects the base ends of the pair of rod-shaped flat plates 31a. The pair of rod-shaped flat plates 31a are, for example, gently narrowed from the connecting portion of the connecting plate 31b towards the tip, and the very tip is formed into a rounded corner.

[0050] The grip 32 is fixed to the upper surface of the connecting plate 31b by appropriate fixing means such as screws or welding. The grip 32 is inclined relative to the fork body 31 at an angle range of, for example, 20° to 70°, and as described above, it has two gripping recesses 321 on each of its two sides. Therefore, when the fork jig 30 is housed in the holder 17b, the grip 32 protrudes from the upper surface of the holder 17b in the negative X-axis direction and upward (positive Z-axis direction). This allows the end effector 25 to easily access the grip 32, and by moving the end effector 25 upward while the grip 32 is in a gripping position, the fork jig 30 can be pulled out of the holder 17b.

[0051] As shown in Figures 8(A) and 8(B), the press jig 40 is a jig that constructs a workpiece 59 containing polymer by placing the polymer on the lower plate jig 41, and then stacking the intermediate plate jig 46 and the upper plate jig 51 in order. In Figure 8(A), for the sake of easier understanding of the invention, the upper (planar) side of the lower plate jig 41 and the intermediate plate jig 46 is shown, while the lower side of the upper plate jig 51 is shown.

[0052] In other words, the press automation system 2 according to this embodiment presses the polymer vertically by sandwiching it between the lower plate jig 41 and the upper plate jig 51. Furthermore, the press automation system 2 prevents the polymer from slipping out laterally by using an intermediate plate jig 46 placed between the lower plate jig 41 and the upper plate jig 51. The press automation system 2 then transports the polymer in the form of the 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 the pressing process. Note that the press jig 40 may also 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.

[0053] 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 that protrude from the upper surface of the plate body 42. In addition, a pair of retaining grooves 44 are formed on the lower surface of the lower plate jig 41. Furthermore, a measuring hole 45 into which the thermocouple jig 70 is inserted is formed at an intermediate position in the width direction of the lower plate jig 41.

[0054] In plan view, the plate body 42 is formed as a polygon (hexagon) with a trapezoidal tip side (positive X-axis side) connected to a rectangular base side (negative X-axis side). The tip side of the plate body 42 has opposite sides 42a that are close to each other toward the tip, and each opposite side 42a is connected to the tip side 42b.

[0055] The portion of the upper surface of the plate body 42 that is inside each frame 43 is formed in a flat shape. When assembling the workpiece 59, the polymer is placed in this inner mounting area. In addition, a pair of stoppers 42d are attached to the base edge 42c of the plate body 42 to restrict the movement of the plate body 42 toward the tip. The plate body 42 may also have a cutout shape in part to reduce the weight of the entire lower plate jig 41.

[0056] Multiple frame members 43 are provided on the four sides of the plate body 42 (both sides in the X-axis direction and both sides in the Y-axis direction) and extend parallel to each side. Each frame member 43 has an inclined surface 431 that slopes inward from the outside towards the plate body 42 side (downward side).

[0057] A pair of retaining grooves 44 extend linearly from the base edge 42c of the plate body 42 toward the tip. A pair of rod-shaped flat plates 31a of the fork jig 30 enter the pair of retaining grooves 44 from the open portion of the base edge 42c. Each retaining groove 44 is formed to be slightly wider than the rod-shaped flat plate 31a and gradually narrow towards the tip, and can accommodate most of each rod-shaped flat plate 31a. The lower plate jig 41 is supported by the fork jig 30, which is inserted into the pair of retaining grooves 44, while maintaining its horizontal position.

[0058] The measuring hole 45 extends linearly through the interior of the plate body 42 from the base edge 42c toward the tip. When a workpiece is placed on the press position of the heat press device 80 or the cold press device 90, the detector 73 of the thermocouple jig 70 is inserted into the measuring hole 45. This makes it possible to measure the temperature of the mounting area of ​​the plate body 42 (in other words, the temperature of the polymer supplied to the mounting area).

[0059] The intermediate plate jig 46 of the press jig 40 is initially placed on the plate body 42 of the lower plate jig 41 to define the 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 also has a circular hole 47h formed therein to define the placement area.

[0060] The plate body 47, like the plate body 42, is formed in a polygonal shape (hexagonal) in plan view, with a trapezoidal tip side (positive X-axis direction) connected to a rectangular base side (negative X-axis direction). In plan view, the plate body 47 is formed to be smaller than the plate body 42 and can be placed inside multiple frame bodies 43. The tip side of the plate body 47 has opposite sides 47a that are close to each other toward the tip, and each opposite side 47a is connected to the tip side 47b.

[0061] The grip 48 protrudes in a direction perpendicular to the plane of the plate body 47 (positive Z-axis direction). The grip 48 is formed in a block shape, similar to the grip 32 of the fork jig 30, and has a pair (two) gripping recesses 481 on both sides. Each gripping recess 481 constitutes one of the holding structures 33 into which each gripping projection 274 provided on the pair of gripping bodies 27 enters when gripped by the end effector 25.

[0062] Furthermore, the upper plate jig 51 of the press jig 40 is placed on top of the plate body 47 of the intermediate plate jig 46 after the polymer has been supplied to the mounting area of ​​the lower plate jig 41. The upper plate jig 51 has a plate body 52 having a thickness similar to that of the lower plate jig 41. In addition, a pair of retaining grooves 53 are formed on the lower surface of the upper plate jig 51.

[0063] The plate body 52 is formed in a polygonal shape (hexagonal shape) in plan view, with a trapezoidal tip side (positive X-axis direction) connected to a rectangular base side (negative X-axis direction). The tip side of the plate body 42 has opposite sides 52a that are close to each other toward the tip, and each opposite side 52a is connected to the tip side 52b. In this embodiment, the shape of the plate body 52 of the upper plate jig 51 is substantially the same as the shape of the plate body 42 of the lower plate jig 41.

[0064] Each side of the plate body 52 has a guide surface 54 that slopes inward from the top surface to the bottom surface. When the upper plate jig 51 is placed on top of the lower plate jig 41, the guide surfaces 54 of the plate body 52 come into contact with the inclined surfaces 431 of the multiple frame bodies 43, guiding the relative position of the upper plate jig 51 with respect to the lower plate jig 41.

[0065] The pair of retaining grooves 53 extend linearly from the guide surface 54 at the base end of the plate body 52 toward the tip. The pair of rod-shaped flat plates 31a of the fork jig 30 enter into the pair of retaining grooves 53. The upper plate jig 51 is supported by the fork jig 30, which is inserted into the pair of retaining grooves 53, while maintaining its horizontal position.

[0066] The press fixture 40 described above is assembled into a workpiece 59 as shown in Figure 8(B) by the robot 20 (see Figure 6). In the form of the workpiece 59, the intermediate plate fixture 46 and the upper plate fixture 51 overlap the lower plate fixture 41, and the circumferential frame bodies 43 of the lower plate fixture 41 and the circumferential guide surfaces 54 of the upper plate fixture 51 come into close proximity. This restricts the planar displacement of the upper plate fixture 51 relative to the lower plate fixture 41. The polymer is then sandwiched between the plate body 42 of the lower plate fixture 41 and the plate body 52 of the upper plate fixture 51. The press automation system 2 can transport the workpiece 59, in the form of an integrated unit consisting of the lower plate fixture 41, intermediate plate fixture 46, and upper plate fixture 51, from the workbench 10 by holding the lower plate fixture 41 with the robot 20 via the fork fixture 30.

[0067] On the other hand, the supply cup 61 of the cup jig 60, as shown in Figure 9(A), 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.

[0068] The cup body 62 is formed by a circular bottom 621 and conical side portions 622 that slope upward and outward from the edge of the bottom 621, and has a storage space 63 inside the bottom 621 and side portions 622. That is, the inner circumferential surface 62i of the cup body 62 that forms the storage space 63 is tapered. Because the opening of the storage space 63 is wide in this way, the polymer to be measured in the measuring device 14 (see Figure 3) can be poured into the storage space 63 without spilling.

[0069] 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 (positive Z-axis direction), and has an L-shape when viewed from the side. This grip 64, like the grip 32 of the fork jig 30, has a pair (two) gripping recesses 643 on both sides of the block portion 642. Each gripping recess 643 constitutes one of the holding structures 33 into which each gripping projection 274 provided on the pair of gripping bodies 27 enters when gripped by the end effector 25.

[0070] As shown in Figure 9(B), the splash-proof 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. This splash-proof cup 66 is placed in the mounting area of ​​the lower plate jig 41 to prevent the polymer from splashing when the polymer is supplied by the supply cup 61.

[0071] The cup body 67 is formed from a cylindrical tubular body 671 without a bottom, and has a through space 68 that penetrates the inside of the tubular body 671 in the vertical direction (Z-axis direction). That is, the inner circumferential surface 67i of the cup body 67 that forms the through space 68 extends in the vertical direction with a constant inner diameter. Polymer is poured from the supply cup 61 into the through space 68 of the cup body 67 which is placed on the lower plate jig 41. At this time, the cup body 67 can prevent the polymer from splashing out of the tubular body 671. Note that the member that prevents splashing when supplying polymer to the lower plate jig 41 is not limited to the above configuration and can take various configurations. For example, the splash prevention cup 66 may have a plate with substantially the same shape as the intermediate plate jig 46 connected to the outer circumferential surface of the tubular body 671, and this plate may be in contact with the intermediate plate jig 46. With this plate, the splash prevention cup 66 can reliably prevent the tubular body 671 from tipping over.

[0072] The grip 69 has a connecting portion 691 that connects to the cylindrical body 671 of the cup 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 Z-axis direction), and has an L-shape when viewed from the side. This grip 69, like the grip 32 of the fork jig 30, has a pair (two) gripping recesses 693 on both sides of the block portion 692. Each gripping recess 693 constitutes one of the holding structures 33 into which each gripping projection 274 provided on the pair of gripping bodies 27 enters when gripped by the end effector 25.

[0073] Furthermore, as shown in Figure 10, the thermocouple jig 70 measures the temperature of the polymer by being inserted into the measuring hole 45 of the lower plate jig 41 when the workpiece 59 is placed on the heat press device 80 or the cold press device 90. The thermocouple jig 70 comprises a thermocouple body 71 and a grip 72 that is attached to the thermocouple body 71.

[0074] The thermocouple body 71 has a rod-shaped detector 73 that protrudes toward the tip and a harness 74 that supplies power to the detector 73, and a grip 72 is attached to the connection portion between the detector 73 and the harness 74. A well-known temperature detector can be applied to this thermocouple body 71.

[0075] The grip 72 has a mounting portion 721 that is mounted on the thermocouple body 71, a flange portion 723 that protrudes outward in the width direction at the tip of the mounting portion 721, and a block portion 724 that is connected to the upper surface of the mounting portion 721 and inclined upward and toward the base end. The mounting portion 721 has two parts 721p that can be separated along the axial direction of the thermocouple body 71, and these two parts 721p are firmly fixed to the thermocouple body 71 by screwing them together with a plurality of connecting screws 722.

[0076] The block portion 724 of the grip 72 is inclined toward the base end and upward, similar to the grip 32 of the fork jig 30. Two gripping recesses 725, which are one of the holding structures 33, are provided on each of the two sides of the block portion 724. When the thermocouple jig 70 is housed in the holder 17b, the grip 72 protrudes from the upper surface of the holder 17b, allowing the end effector 25 of the robot 20 to easily access it (see also Figure 6).

[0077] Furthermore, as shown in Figures 6 and 7(A), a rectangular marker 10m is installed on the top plate of the workbench 12. This marker 10m serves as an imaging index (feature point) for correcting the coordinate position of each jig 19 in conjunction with imaging by the camera 28 mounted on the end effector 25 of the robot 20. As the marker 10m, an AR (Augmented Reality) marker with a three-dimensional position can be applied, enabling the robot controller 29 or control device 4 to recognize the three-dimensional position according to the position of the AR marker recognized by the imaging information. Note that the marker 10m is not limited to an AR marker; any mark that can be extracted from the imaging information (for example, a QR code (registered trademark)) is acceptable. Also, the marker 10m is not limited to being installed on the workbench 10, but may also be installed at the press position of a press device (heat press device 80, cold press device 90), for example.

[0078] Returning to Figure 3, we will describe the heat press apparatus 80 and cold press apparatus 90 that actually press the workpiece containing the polymer. The heat press apparatus 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 apparatus 80 based on control commands from the control device 4.

[0079] As shown in Figure 11, the heat press machine 81 has a mounting section 82 on the upper surface of the machine housing 81a that forms a pressing position (first position) for the workpiece 59, and a pressing body 83 that can move closer to and further away from the mounting section 82. Furthermore, a pressing mechanism (not shown) for operating the pressing body 83 is provided inside the machine housing 81a. The heat press machine 81 may also include a cover 85 (see dotted line in Figure 11) that covers the mounting section 82 and the pressing body 83.

[0080] The mounting section 82 includes a fixed base 821 and a mounting member 822 which is fixed to the upper surface of the fixed base 821 and on which the workpiece 59 is directly placed. Inside the fixed base 821, a heater mechanism 84 is provided to heat the workpiece 59 via the mounting member 822.

[0081] As shown in Figure 12, the mounting member 822 is provided with a recessed space 822a for placement that substantially matches the shape of the workpiece 59 (see Figure 8(B)). The recessed space 822a is open on the side where the robot 20 is installed (negative Y-axis direction side), allowing the workpiece 59 to slide horizontally into the recessed space 822a from the open portion. The peripheral wall of the mounting member 822 that constitutes the recessed space 822a functions as a guide wall 822g that guides the side edges of the workpiece 59. The guide wall 822g on the far side of the recessed space 822a is formed to match the opposite sides 42a and the tip edge 42b of the lower plate jig 41, and the opposite sides 52a and the tip edge 52b of the upper plate jig 51.

[0082] Therefore, when the workpiece 59 is placed on the mounting section 82, as the robot 20 slides the workpiece 59, the workpiece 59 is guided by the guide wall 822g and moves into the back of the placement recess space 822a. Then, the leading edges 42b and 52b of the workpiece 59 come into contact with the innermost guide wall 822g, allowing the workpiece 59 to be accurately positioned at the press position of the mounting section 82.

[0083] The press body 83 moves up and down relative to the mounting section 82 by a press operation mechanism within the machine housing 81a. As shown in Figure 11, the press body 83 includes a movable platen 831, a plurality (four) of support columns 832 that support the movable platen 831 so that it can move up and down, a pressing support section 833 installed on the lower surface of the movable platen 831, and a pressing body 834 fixed to the pressing support section 833. The press body 83 also includes a heater mechanism 84 within the pressing support section 833, which heats the pressing body 834. The movable platen 831 may also be provided with heat dissipation fins 835 on its upper surface to dissipate heat from the pressing support section 833.

[0084] Each support column 832 protrudes from within the machine housing 81a and is connected to the press operating mechanism within the machine housing 81a. The press operating mechanism includes a drive source (not shown) such as a hydraulic cylinder, a pneumatic cylinder, or a motor, and a drive transmission section (not shown) composed of multiple gears, etc. Each support column 832 moves up and down under the operation of the press operating mechanism, displacing the movable platen 831, the pressing support section 833, and the pressing body 834 together while maintaining their horizontal positions.

[0085] The pressing body 834 contacts 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 makes surface contact with the upper surface of the upper plate jig 51 which is placed on the mounting section 82. The press body 83 descends toward the mounting section 82 and, in cooperation with the mounting section 82, presses 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). After pressing, the press body 83 rises and moves away from the mounting section 82, making it possible to remove the workpiece 59. In polymer pressing, the heat press controller 89 (see Figure 3) controls the press operation mechanism based on the target pressure of the control command received from the control device 4.

[0086] The heater mechanism 84 of the heat press apparatus 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. The heat press apparatus 80 can adjust the temperature of the mounting section 82 and the press body 83 to appropriate target temperatures when pressing polymer. The heat press apparatus 80 may also be configured to have the heater mechanism 84 in only one of the mounting section 82 or the press body 83.

[0087] On the other hand, as shown in Figure 3, the cold press apparatus 90, like the heat press apparatus 80, has a mounting section 92 on the upper surface of the machine housing 91a that forms the pressing position (second position) of the workpiece 59, and a pressing body 93 that can move closer to and further away from the mounting section 92. Furthermore, a pressing mechanism (not shown) for operating the pressing body 93 is provided inside the machine housing 91a. The cold press apparatus 90 has basically the same configuration as the heat press apparatus 80 except for the temperature adjustment configuration, so a detailed explanation of it will be omitted.

[0088] The cold press apparatus 90 includes a cooling mechanism 94 for cooling the mounting section 92 and the press body 93, respectively. For example, the cooling mechanism 94 can employ a structure that circulates a coolant by forming internal passages in the mounting section 92 and the press body 93, or a structure that provides heat dissipation fins on the mounting section 92 and the press body 93 and air-cools or water-cools the heat dissipation fins. The cold press apparatus 90 can adjust the temperature of the mounting section 92 and the press body 93 to an appropriate target temperature when pressing polymer by controlling the cooling mechanism 94 under the control of the cold press controller 99.

[0089] 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. Therefore, within the control device 4, a press automation command unit 101 and an analysis command unit 105 are formed based on the execution of the program 100 by the processor 4a, as shown in Figure 13. Furthermore, within the press automation command unit 101, a robot command unit 102 is constructed to generate and output control commands for the robot 20, a heat press command unit 103 is constructed to generate and output control commands for the heat press device 80, and a cold press command unit 104 is constructed to generate and output control commands for the cold press device 90.

[0090] Each command unit of the control device 4 receives the processing flow procedure of program 100 and detection information from multiple types of sensors (not shown) installed in each device of the sample evaluation system 1, and monitors the status of each device. Then, each command unit generates a control command at an appropriate timing and operates the device by transmitting this control command to the designated device.

[0091] 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 explained below with reference to Figure 14.

[0092] As described above, in the sample evaluation method, the control device 4 of the sample evaluation system 1 first presses the polymer using the press automation system 2 to create a press-molded product (performing the pressing process), and then analyzes and evaluates the created press-molded product using the analysis device 3. Specifically, the control device 4 performs the following steps in this order: weighing process (step S1), assembly process (step S2), first transport process (step S3), heat press process (step S4), second transport process (step S5), cold press process (step S6), return transport process (step S7), dismantling process (step S8), transport process during analysis (step S9), and analysis process (step S10) (see also Figure 1).

[0093] As shown in Figure 3, in the weighing process (step S1), the press automation system 2 weighs the polymer to be evaluated using the weighing device 14 on the workbench 10. For example, the control device 4 controls the robot 20 to pick up the supply cup 61 set on the workbench 10 and place this supply cup 61 on the measuring section of the weighing device 14. Furthermore, while monitoring the measurement information from the measuring section, the control device 4 controls the robot 20 to put granular polymer from the container into the supply cup 61. Note that in this weighing process, the polymer may also be weighed manually by an operator to reach the target weight.

[0094] Furthermore, when the robot system 20A grasps the jig 19 (supply cup 61), it adjusts the position of the end effector 25 based on the three-dimensional target position included in the control command and the imaging information from the camera 28 of the end effector 25, and then grasps the jig 19. The position correction of the end effector 25 in this robot system 20A will be explained below with reference to Figure 15.

[0095] When the robot system 20A grips the jig 19 with the end effector 25 or moves it to the target position, the robot controller 29 receives the 3D target position and orientation as control commands from the control device 4 (step S101).

[0096] Then, the robot controller 29 operates the operating unit 21 based on the three-dimensional target position and orientation to move the end effector 25 to above and near the workbench 10 (step S102).

[0097] The robot controller 29 then takes images using the camera 28 installed on the end effector 25 and acquires imaging information from the camera 28 (step S103). The robot controller 29 also performs appropriate image processing on the acquired imaging information.

[0098] The imaging information from the camera 28, which captures images above and near the workbench 10, includes a marker 10m (see Figure 6) installed on the work platform 12. The robot controller 29 extracts this marker 10m from the imaging information and calculates the error of the 3D target position from the relative position of the marker 10m and the target jig 19 in the pre-held imaging information (step S104).

[0099] Furthermore, the robot controller 29 updates the current 3D target position to a 3D target position and orientation that takes into account the calculated error (step S105). Then, the robot controller 29 corrects the operation of the operating unit 21 according to the updated 3D target position and orientation and moves the end effector 25 (step S106). As a result, the robot system 20A can accurately guide the end effector 25 above the workbench 10 according to the imaging information from the camera 28.

[0100] In step S107, the robot controller 29 operates the pair of gripping bodies 27 of the end effector 25 to grip the target fixture 19 (supply cup 61). At this time, because the end effector 25 has moved to the updated three-dimensional target position, the center line of the grip 64 of the supply cup 61 and the center line of the end effector 25 are approximately aligned. Therefore, the pair of gripping bodies 27 can accurately grip both sides of the grip 64.

[0101] In the example above, the operation of the end effector 25 gripping the supply cup 61 was described, but of course, the robot system 20A can perform similar operations when gripping other jigs 19. Alternatively, when transporting an object gripped by the end effector 25 to a target position, the robot system 20A can first move based on the 3D target position and then use the imaging information from the camera 28 near the 3D target position to transport the object to the target position with high accuracy.

[0102] Returning to Figure 1, in the next assembly process (step S2), the control device 4 assembles the workpiece 59 on the workbench 10 using the robot 20. In assembling the workpiece 59, each holder 17 operates each jig 19 from the position where the lower plate jig 41 is placed. That is, in the assembly process, the position where the lower plate jig 41 is placed on the workbench 10 becomes the set position for assembling the workpiece 59. Also in the assembly process, the control device 4 forms the workpiece 59 according to the assembly procedure shown in Figure 16.

[0103] In detail, the control device 4 first uses 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 Figure 8(A)).

[0104] Next, the control device 4 uses the robot 20 to grasp the splash-proof cup 66 and remove it from the holder 17, then transports the splash-proof cup 66 to the lower plate jig 41 and places the splash-proof cup 66 in the hole 47h of the intermediate plate jig 46 (step S22).

[0105] Subsequently, the control device 4 uses the robot 20 to grasp the supply cup 61 located in the weighing device 14 (or holder 17) and transport the supply cup 61 (step S23). The supply cup 61 contains the polymer weighed in the weighing process in its storage space 63. During this transport, the robot 20 transports the supply cup 61 to above the splash-proof cup 66 placed on the lower plate jig 41.

[0106] Then, the control device 4 supplies polymer into the through-space 68 of the splash-proof cup 66 by tilting the supply cup 61 (step S24). At this time, the control device 4 adjusts the relative position of the splash-proof cup 66 and the supply cup 61 based on the imaging information from the camera 28, and controls it so that the opening of the supply cup 61 and the opening of the splash-proof cup 66 are close together. The polymer supplied from the supply cup 61 into the through-space 68 of the splash-proof cup 66 hits the lower plate jig 41 and bounces back, but the cylindrical body 671 of the splash-proof cup 66 prevents it from scattering into the surroundings.

[0107] After the polymer has been supplied, the control device 4 returns the supply cup 61, which is being held by the robot 20, to its original position (holder 17b) (step S25). Furthermore, the control device 4 controls the robot 20 to grasp the splash-proof cup 66 and raise it upward, thereby separating the splash-proof cup 66 from the lower plate jig 41, and returns the splash-proof cup 66 to its original position (step S26).

[0108] Subsequently, the control device 4 uses the robot 20 to grasp the fork jig 30 and move it, causing the fork jig 30 to enter the pair of holding grooves 53 of the upper plate jig 51, thereby transporting the upper plate jig 51 (step S26). At this time, the pair of gripping bodies 27 of the end effector 25 can hold the fork jig 30 in a non-rotatable manner by the holding structure 33 (each gripping protrusion 274, each gripping recess 321) (see Figure 5(B)). Therefore, the robot system 20A can stably maintain the posture of the upper plate jig 51 supported by the fork jig 30 and transport it.

[0109] 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 planar direction of the lower plate jig 41, positioning the upper plate jig 51 so that its shape overlaps with the shape of the lower plate jig 41. The robot 20 may also correct the coordinate position of the lower plate jig 41 and the upper plate jig 51 based on the marker 10m of the image information from the camera 28 when moving the upper plate jig 51.

[0110] Then, the control device 4 moves the upper plate jig 51, which has been moved by the robot 20 directly above the lower plate jig 41, down below the protruding position of each frame 43, and in this lowered state, moves the fork jig 30 backward towards the base end. As the fork jig 30 moves out, the upper plate jig 51's guide surface 54 is guided by the inclined surface 431 of each frame 43, and its relative position with the lower plate jig 41 is adjusted (see also Figure 8(B)).

[0111] By performing the above assembly process, the press automation system 2 can stably and reliably form a workpiece 59 with polymer sandwiched between the lower plate jig 41 and the upper plate jig 51. Furthermore, the robot system 20A continues to grip the fork jig 30 with the end effector 25 even after the assembly process, allowing for a smooth transition to the next first transport process.

[0112] As shown in Figure 1, in the first transport process (step S3), the control device 4 transports the workpiece 59 assembled in the assembly process to the heat press device 80 using the robot 20. At this time, the control device lifts the lower plate jig 41 by inserting the fork jig 30, which is being held by the robot 20, into a pair of holding grooves 44 of the lower plate jig 41. The intermediate plate jig 46 and the upper plate jig 51 move together with the lower plate jig 41, and the polymer sandwiched between them is transported without falling off.

[0113] When transporting the workpiece 59 to the heat press device 80, the control device 4 adjusts the height of the fork jig 30 and the workpiece 59 to the height of the recessed space 822a for placement in the mounting section 82, as shown in Figures 17(A) and 17(B). After adjusting the height, the control device 4 uses the robot 20 to slide the fork jig 30 and the workpiece 59 horizontally.

[0114] Therefore, the side edges of the workpiece 59 are guided by the guide wall 822g of the mounting section 82, and the workpiece 59 moves into the recessed space 822a for placement. This allows the press automation system 2 to accurately position the workpiece 59 relative to the mounting section 82 (press position). When the workpiece 59 is placed on the mounting section 82, a state is formed in which the workpiece 59 protrudes from the upper surface of the mounting section 82 (mounting member 822).

[0115] Returning to Figure 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 apparatus 80 heats the mounting section 82 and the press body 83 to the target temperature using the heater mechanism 84. After the robot system 20A places the workpiece 59 on the mounting section 82 and returns the fork jig 30 to its original position, it grasps the thermocouple jig 70 and transports it to the heat press apparatus 80. The robot system 20A then inserts the detector 73 of the thermocouple jig 70 into the measurement hole 45 of the workpiece 59 (lower plate jig 41), thereby enabling measurement of the polymer temperature. The control device 4 can adjust the temperature of the heater mechanism 84 by monitoring the measurement information measured by the thermocouple jig 70.

[0116] The heat press device 80 lowers the press body 83 after the polymer temperature reaches the target temperature, pressing the workpiece 59 with a set target pressure. This presses the polymer sandwiched between the lower plate fixture 41 and the upper plate fixture 51, creating a press-formed product on the heat press device 80.

[0117] Subsequently, in the second transport process (step S5), the control device 4 operates the robot 20 to grasp and transport the fork jig 30, holding the workpiece 59 of the heat press device 80 with the fork jig 30 and transporting it to the cold press device 90. The transport from the mounting section 82 of the heat press device 80 to the mounting section 92 of the cold press device 90 can be performed using the same operation as in the first transport process (step S5).

[0118] Then, in the cold press process (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 the press body 93 to the target temperature using the cooling mechanism 94. Then, based on the measurement information from the thermocouple jig 70, after the polymer temperature reaches the target temperature, 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 press-molded product that has been pressed twice is produced on the workpiece 59.

[0119] Subsequently, in the return transport process (step S7), the control device 4 operates the robot 20 to grasp and transport the fork jig 30, holding the workpiece 59 of the cold press device 90 with the fork jig 30 and transporting it to the workbench 10. At this time, the robot 20 places the workpiece 59 on the original set position of the lower plate jig 41 (the position surrounded by the four holders 17a). In other words, the original set position of the lower plate jig 41 is also the dismantling position when dismantling the workpiece 59.

[0120] In the dismantling process (step S8), the control device 4 operates the robot 20 to dismantle 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. As a result, the press-formed product remains on the upper surface (mounting area) of the lower plate jig 41.

[0121] During the analysis transport process (step S9), the control device 4 uses the robot 20 to transport the press-formed product to the die-cutting transport table 16, and then transports it together with the die-cutting transport table 16 to the removal device 15. The removal device 15 performs a process to detach the press-formed product from the lower plate jig 41. The sample evaluation system 1 then temporarily holds the press-formed product removed from the lower plate jig 41 on the transport platform 13, and transports it to the analysis device 3 at an appropriate time using the robot 20 (or other transport device (conveyor, etc.) not shown). Note that the detachment of the press-formed product may be performed manually by an operator, regardless of the operation of the removal device 15 or the robot 20.

[0122] Finally, in the analysis step (step S10), the control device 4 outputs a control command to the analysis device 3, to which the press-formed product has been transported, to perform appropriate analysis processing, thereby causing the press-formed product to be analyzed. For example, as shown in Figures 18(A) and 18(B), the analysis device 3 captures an image of the press-formed product using an imaging unit (not shown), and calculates the roundness of the press-formed product by performing appropriate image processing on the captured information. Figure 18(A) illustrates a press-formed product P1 with high roundness, and Figure 18(B) illustrates a press-formed product P2 with low roundness.

[0123] The analyzer 3 correlates the calculated circularity and thickness of the press-molded products P1 and P2 with the conditions of the pressing process (target pressure for pressing, 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 readjusts the condition parameters of the pressing process (experiment) based on the polymer evaluation values ​​analyzed by the analyzer 3, and reflects these condition parameters in the next sample evaluation method.

[0124] In other words, as shown in Figure 19, the control device 4 performs the sample evaluation method using the condition parameters of the initial pressing process (experiment), and repeatedly provides feedback to reset the experimental condition parameters based on the analysis results of the obtained press-formed product. This allows the sample evaluation system 1 to significantly reduce the burden on the operator in evaluating the sample and obtain the optimal pressing process condition parameters according to the sample being analyzed.

[0125] The embodiments disclosed above have, for example, the following aspects and effects. [Note 1] A first aspect of the present disclosure provides a robot comprising an end effector having a pair of gripping bodies for gripping an object to be gripped, and an operating unit connected to the end effector for moving the pair of gripping bodies closer together and further apart from each other, wherein one of the pair of gripping bodies and the object to be gripped has a plurality of gripping protrusions, and the other of the pair of gripping bodies and the object to be gripped has a plurality of gripping recesses into which each of the plurality of gripping protrusions is inserted and engages with the plurality of gripping protrusions when the pair of gripping bodies are operating. [Effects of Appendix 1] As described above, the robot can firmly grip an object to be gripped by the engagement of each of the multiple gripping protrusions and each of the multiple gripping recesses during the operation of a pair of gripping bodies. In other words, the engagement of the multiple gripping protrusions and multiple gripping recesses can restrict the rotation of the object to be gripped relative to the pair of gripping bodies, even if the object has weight. Therefore, the pair of gripping bodies can stably support and transport the object to be gripped. [Note 2] The robot as described in Appendix 1, wherein each of the multiple gripping protrusions is formed in a conical shape that tapers towards the direction of protrusion from the connecting portion, and each of the multiple gripping recesses is formed in a conical funnel shape that decreases in diameter from the opening towards the depth. [Effects of Appendix 2] As a result, even if the positions of each gripping projection and each gripping recess are slightly misaligned, the gripping projection guides the insertion of each gripping recess, making it easy to position the two together. [Note 3] The robot according to Appendix 1 or 2, wherein the plurality of gripping protrusions protrude from the set of gripping bodies and are integrally molded with the set of gripping bodies from a metal material, and the plurality of gripping recesses are formed by being recessed from one surface of a block made of a metal material. [Effects of Appendix 3] This allows the robot to grip the object more firmly with a single pair of gripping bodies. [Note 4] The robot according to any one of the appendices 1 to 3, wherein the pair of gripping bodies is provided in a pair on the end effector, the object to be gripped has a grip, the plurality of gripping protrusions are provided on opposite surfaces of the pair of gripping bodies, and as the pair of gripping bodies approach each other, they are inserted into the plurality of gripping recesses provided on a pair of sides of the grip. [Effects of Appendix 4] This allows the robot to smoothly grasp the object to be grasped using the end effector. [Note 5] The robot according to any one of the appendices 1 to 4, wherein multiple types of gripping targets are provided, and the end effector switches between multiple types of gripping targets to perform different operations. [Effects of Appendix 5] This allows the robot to easily switch between multiple types of objects to grasp and perform appropriate actions. [Note 6] Furthermore, a second aspect of this disclosure is a robot system comprising: an end effector having a pair of gripping bodies for gripping an object to be gripped; a robot connected to the end effector and having an operating unit for moving the pair of gripping bodies closer together and further apart from each other; an imaging unit provided on the end effector for imaging the object to be gripped by the end effector or imaging indicators set around the object to be gripped; and a control unit that receives imaging information captured by the imaging unit and controls the operation of the end effector. The gripping body and the gripping object have a plurality of gripping protrusions, and the other of the gripping body and the gripping object has a plurality of gripping recesses that engage with the plurality of gripping protrusions when each of the plurality of gripping protrusions is inserted into the gripping body during operation, and the control unit corrects the positional deviation of the end effector relative to the target position based on the imaging information when the end effector is moved near the target position based on the positional coordinate information of the gripping object which is held in advance. [Effects of Appendix 6] Even in this case, the robot system can firmly grasp the object to be grasped. Moreover, the robot system can grasp the object with high precision by correcting the positional deviation of the end effector relative to the target position based on the imaging information. [Note 7] The robot system as described in Appendix 6, further comprising: the control unit moving the set of gripping bodies based on the gripping target or imaging indicator included in the imaging information, and positioning the gripping target between the set of gripping bodies. [Effects of Appendix 7] This allows the robot system to stably hold the object to be grasped with a single set of gripping bodies.

[0126] The press automation system 2, robot system 20A, press jig 40, and program 100 according to the embodiments disclosed herein are illustrative and not restrictive in all respects. The embodiments can be modified and improved in various ways without departing from the scope and spirit of the appended claims. The elements described in the above embodiments can be configured in other ways and combined in a non-consistent manner. [Explanation of Symbols]

[0127] 4. Control device 19 Jig 20 Robots 20A Robot System 21 Operating Unit 25 End Effectors 27 Grip body 274 Gripping protrusion 32, 48, 64, 69, 72 Grip 321, 481, 643, 693, 725 Gripping recess

Claims

1. An end effector having a set of gripping bodies for gripping multiple types of jigs, and a robot connected to the end effector and equipped with an operating unit for moving the set of gripping bodies closer together and further apart from each other, The end effector is provided with an imaging unit that captures images of the jig gripped by the end effector or of imaging indicators set around the jig, A robot system comprising: an imaging unit that receives imaging information captured by the imaging unit and a control unit that controls the operation of the end effector, One of the set of gripping bodies and the jig has a plurality of gripping protrusions, The other of the pair of gripping bodies and the jig has a plurality of gripping recesses into which each of the plurality of gripping protrusions is inserted and engages with the plurality of gripping protrusions when the pair of gripping bodies is in motion. The control unit moves the end effector to the vicinity of the target position based on the position coordinate information of the jig which it has in advance, corrects the positional deviation of the end effector relative to the target position based on the imaging information, and grips the jig with the set of gripping bodies. The process of supporting and transporting a first jig from among several types of jigs using the jig gripped by the set of gripping bodies, positioning the first jig relative to a second jig from among several types of jigs based on the imaging information, and assembling the first jig and the second jig is controlled. Robot system.

2. Each of the aforementioned multiple gripping protrusions is formed in a conical shape that tapers towards the protruding direction from the connecting portion. Each of the aforementioned multiple gripping recesses is formed in the shape of a conical funnel, with its diameter decreasing from the opening towards the depth. The robot system according to claim 1.

3. The plurality of gripping protrusions protrude from the set of gripping bodies, The plurality of gripping recesses are formed by being recessed from one surface of the jig. The robot system according to claim 1.

4. The aforementioned pair of gripping bodies are provided in pairs on the end effector. The jig has a grip, The plurality of gripping protrusions are provided on opposing surfaces of the pair of gripping bodies, and are inserted into the plurality of gripping recesses provided on the pair of sides of the grip as the pair of gripping bodies approach each other. The robot system according to any one of claims 1 to 3.

5. The end effector performs different operations by switching between multiple types of fixtures. The robot system according to any one of claims 1 to 3.

6. The control unit moves the set of gripping bodies based on the jig or imaging indicator included in the imaging information, and positions the jig between the set of gripping bodies. The robot system according to any one of claims 1 to 3.

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