JP2013252910A - Product conveyance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a product conveyance device capable of loading or unloading a product having a complicated three-dimensional shape, and a method of conveying the product.SOLUTION: A product conveyance device 100 includes: a product holding part 170 for holding and releasing a product P1; a wire 140 for supporting the product holding part 170; rails 120, 130 for guiding movement of the wire 140; a wire adjustment part 160 for adjusting length of the wire 140 from the product holding part 170 to the rail 130; a wire adjustment part 160 for moving the wire 140 along the rail 130; a camera 110 for acquiring positional information of an operator H and positional information of the product P1; and a control unit 190 for controlling the wire adjustment part 160 by feeding back the positional information of the operator H and the positional information of the product P1 acquired by the camera 110.

Description

  The present invention relates to a product conveying apparatus for conveying a product and a method for conveying a product. More specifically, the present invention relates to a product transport apparatus and a product transport method in which a product can be transported by one worker.

  Conventionally, robots are often used to transport products. This is to cut costs by reducing the number of workers and to reduce the risk of accidents. For example, Patent Document 1 discloses a transport system for transporting and storing a plate-like member such as an electronic display.

JP 2006-347753 A

  By the way, in addition to the plate-like member which is the object of conveyance and accommodation in Patent Document 1, there are various mechanical parts having various shapes. For example, a press-formed product that has been pressed may be mentioned. As described above, many machine products such as automobile parts have a complicated three-dimensional shape. In addition, when a machine part is delivered from a parts manufacturer to a finished product manufacturer, it is generally delivered in a state where a large number of machine parts are loaded. Therefore, a certain degree of accuracy is required. In addition, a certain level of speed is required to increase line productivity. Nevertheless, many machine parts such as automobile parts are heavy.

  It is difficult to manufacture a robot that meets such requirements. For example, when transporting using a robot, it is not easy to stack the machine parts while removing the robot fingers. Each time it is stacked, it is necessary to recalculate the loading position, which requires calculation time. This makes it difficult to carry in a short time. In addition, it is not easy to manufacture a robot that can handle various types of mechanical parts having complicated three-dimensional shapes. However, if a dedicated conveying device is manufactured for each product, a very large number of conveying devices are required. In addition, the cost is high.

  The present invention has been made to solve the above-described problems of the prior art. That is, the problem is to provide a product transport apparatus and a product transport method capable of stacking or unloading products having complicated three-dimensional shapes.

  The product conveyance device in the first aspect is for conveying a product. And this product conveyance device includes a product holding part for holding and releasing the product, a support part for supporting the product holding part, a rail for guiding the movement of the support part, and from the product holding part to the rail. A support part length adjusting part that adjusts the length of the support part, a support part moving part that moves the support part along the rail, a position information acquisition part that acquires the position information of the worker and the position information of the product, and a position A control unit that controls movement of at least one of the support unit moving unit and the support unit length adjusting unit by feeding back the position information of the worker and the position information of the product acquired by the information acquisition unit.

  This product conveyance device is a device that conveys a product by moving with an operator. Therefore, the product can be transported by one worker. Moreover, since this product conveyance apparatus bears most of the product load, the burden on the operator is reduced. On the other hand, the operator can perform fine adjustment when placing or stacking products. In this way, the load burden is reduced and the operator can concentrate his / her consciousness on the fine adjustment, so that the product can be stacked with high accuracy. Further, since the product conveying device does not need to perform high-precision calculation for fine adjustment, it can carry at high speed.

  The product conveyance device according to the second aspect includes a storage unit that previously stores the conveyance path of the product holding unit. The control unit controls the movement of at least one of the support unit moving unit and the support unit length adjusting unit based on the conveyance path of the product holding unit. Since the conveyance path along which the product holding unit moves is stored in advance, it can be moved at high speed. This is because there is no need to recalculate each time.

  In the product transport apparatus according to the third aspect, the storage unit stores the transport path and the transport speed by teaching. Thereby, a product can be conveyed with a suitable conveyance path and conveyance speed.

  In the product transport apparatus according to the fourth aspect, the control unit performs feedback control based on a difference between at least one of the transport path and the transport speed and at least one of the position information and the speed information of the operator's hand. . Thereby, a product can be conveyed, following a movement of a worker's hand to some extent. Accordingly, the workability of the worker is excellent.

  In the product transport apparatus according to the fifth aspect, the control unit prevents the difference between at least one of the transport path and the transport speed and at least one of the position information and the speed information of the operator's hand from becoming larger than a predetermined threshold. In addition, the movement of at least one of the support part moving part and the support part length adjusting part is controlled. This is to suppress variations in the conveyance path caused by the worker and to improve safety during conveyance.

  In the product conveyance device according to the sixth aspect, the support portion includes a first support member and a second support member, and one of the first support member and the second support member conveys the product. The other of the first support member and the second support member is disposed on the rear side in the traveling direction in the product conveyance direction. Thereby, a product can be conveyed in the state maintained stably. In addition, the product can be prevented from shaking due to conveyance.

  In the product conveyance device according to the seventh aspect, the position information acquisition unit holds the product when the position of the operator's hand and the position of the product overlap, and the position of the operator's hand and the position of the product Release the product holding when there is no overlap. Thereby, conveyance of a suitable product is realizable.

  The product conveyance device according to the eighth aspect includes a work signal receiving unit that receives a work signal instructed by the worker. The product holding unit releases the holding of the product when the product holding release signal is received by the work signal receiving unit. For this reason, the product holding unit can suitably place and stack products together with the worker.

  In the product conveyance device according to the ninth aspect, the support portion has a wire. Since the wire bends to some extent, even if a slight deviation occurs between the operation of the operator and the operation of the product conveying device, the wire absorbs the deviation. Therefore, even if a deviation occurs between the operation of the operator and the operation of the product transport device, there is almost no risk of injury to the operator. Moreover, it is excellent in workability.

  In the product conveyance device according to the tenth aspect, the support portion has a telescopic rod. Also in this case, it can be conveyed.

  The product transport method according to the eleventh aspect is a method of transporting a product from one of a factory line and a storage box to the other. In addition, the product is transported while the product is held by the worker and the product holding unit of the product transport device. Then, during the conveyance, the product holding unit is moved along a predetermined conveyance path, and the detected movement of the operator's hand is fed back to convey the product. Thereby, various products having a complicated three-dimensional shape can be loaded. It can also be loaded and unloaded.

  ADVANTAGE OF THE INVENTION According to this invention, the product conveyance apparatus and the product conveyance method which can pile up or unload the product which has complicated three-dimensional shape are provided.

It is a figure which shows one example of the product conveyed by the product conveyance apparatus which concerns on embodiment. It is a schematic block diagram which shows the structure of the product conveyance apparatus which concerns on 1st Embodiment. It is a figure (the 1) which shows an example of the product holding part of the product conveyance apparatus which concerns on embodiment. It is FIG. (2) which shows an example of the product holding part of the product conveyance apparatus which concerns on embodiment. It is FIG. (3) which shows an example of the product holding part of the product conveyance apparatus which concerns on embodiment. It is a figure which shows the conveyance path | route of the product conveyed by the product conveyance apparatus which concerns on embodiment. It is a flowchart for demonstrating operation | movement of the product conveyance apparatus which concerns on embodiment. It is a figure which shows the area | region inside the storage box in which the product conveyance apparatus which concerns on embodiment accommodates a product. It is a schematic block diagram which shows the structure of the product conveyance apparatus which concerns on 2nd Embodiment.

  Hereinafter, specific embodiments will be described with reference to the drawings. However, these are examples and are not limited to these embodiments.

(First embodiment)
1. Product conveying device 1-1. Product to be transported A first embodiment will be described. The product conveying apparatus of this embodiment is for conveying the product which has a complicated solid shape as shown in FIG. For example, the product P1 is a press-formed product. Here, “product” includes parts that are not finished products such as automobile parts. And the product conveyance apparatus of this embodiment can perform the loading or unloading of the product in the shipping container. Moreover, the product conveyance apparatus of this embodiment can convey not only the product P1 shown in FIG. 1 but the product of another shape. Of course, a product having a simple shape such as a plate-like member can also be conveyed.

1-2. Configuration of Product Conveying Device The configuration of the product conveying device 100 of this embodiment is shown in FIG. In FIG. 2, in addition to the product conveying apparatus 100, a belt conveyor C <b> 1 and an operator H who carry the manufactured product P <b> 1 in the factory are depicted. The product conveying apparatus 100 is for accommodating the product P1 conveyed by the belt conveyor C1 in the factory line in the storage box B1. The product conveyance device 100 moves according to the movement of the worker H. And with the worker H, the product P1 is accommodated while being stacked inside the accommodation box B1. Therefore, not all operations are performed automatically. The worker H receives the assistance of the product transport device 100 and transports the product P1.

  In order to increase the productivity in the factory line, it is necessary to increase the conveyance speed of the product P1 to some extent. For example, it is 300 mm / sec or more and 1000 mm / sec or less. However, these are merely examples, and it is of course possible to transport at other transport speeds depending on the product to be transported and the environment in the factory.

  As illustrated in FIG. 2, the product conveyance device 100 includes a camera 110, a rail 120, a rail 130, a wire 140, and a product holding unit 170.

  The camera 110 is a position information acquisition unit that acquires the position of the product P1 and the position of the worker H as position information. And it also serves as a work signal receiving unit for receiving a work signal issued by the worker H. Here, the work signal refers to a signal for the worker H to communicate his intention regarding work. For example, there are cues for instructing the start of product conveyance by the product conveyance device 100 and an emergency stop.

  The rail 120 is for moving the rail 130 in the X-axis direction. By moving the rail 130, the wire 140 and the product holding part 170 are moved in the X-axis direction.

  The rail 130 is for moving the wire 140 and the product holding part 170 in the Y-axis direction. The rail 130 intersects with the rail 120. In FIG. 2, the rail 130 is orthogonal to the rail 120. The rail 120 and the rail 130 do not necessarily need to be orthogonal. This is because the wire 140 and the product holding unit 170 can be moved on the XY plane if they intersect each other. As described above, the rails 120 and 130 are used to guide the movement of the wire 140 and the product holding unit 170.

  The wire 140 is a support part for supporting the product holding part 170. Therefore, it is connected to the product holding unit 170. The wire 140 can be expanded and contracted. And it is used for lifting the product P1. That is, the product P1 can be moved in the Z-axis direction.

  The wire adjustment unit 160 is a support unit length adjustment unit that adjusts the length of the wire 140. Here, the length of the wire 140 refers to the length from the product holding unit 170 to the rail 130. By changing the length of the wire 140, the product holding part 170 can be moved in the Z-axis direction. In addition, the wire adjustment unit 160 also serves as a support unit moving unit that moves the wire 140 along the rail 130. In this way, the product holding unit 170 and the product holding unit 170 hold by combining the movements in the respective directions (X-axis direction, Y-axis direction, and Z-axis direction) in the rails 120 and 130 and the wire adjustment unit 160. The three-dimensional trajectory and moving speed of the product P1 can be determined.

  The product holding unit 170 is a product holding unit for holding a product. The product can be held and released. The product P1 is continuously held from the start of conveyance of the product P1 to the end of the stacking of the product P1. Specifically, it will be described later.

  The pump 180 is for supplying air to the product holding unit 170 and sucking air. Thereby, the product holding unit 170 can hold and release the product. Of course, an air supply path in the factory may be used instead of the pump 180. In addition, when electric power is used for holding the product P1 in the product holding unit 170, a pump is not necessary.

  Various actuators may be used for the operation of the rails 120 and 130. A motor can be used to move these. For example, if it is a servo motor, the position of the product holding | maintenance part 170 and the product P1 can be controlled with high precision. In FIG. 2, members that indicate the rails 120 and 130 are not drawn. However, these support members actually exist only by omitting the description.

  The control unit 190 has a control unit for controlling the operation of each unit. Further, the control unit feeds back the position information of the worker H and the position information of the product P1 acquired by the camera 110, thereby controlling the movement of the wire adjustment unit 160, that is, the movement of the product holding unit 170. Is. As a result, the movement of at least one of the XY plane coordinates and the Z-axis coordinates of the product P1 held by the product holding unit 170 is controlled.

  The control unit 190 also has a storage unit that stores a program for controlling the operation of each unit. The storage unit also stores in advance the conveyance path of the product holding unit 170. As will be described later, the conveyance path and conveyance speed of the product holding unit 170 are stored by teaching. Then, the control unit controls the movement of the wire adjusting unit 160 based on the stored conveyance path and the like. The position where the control unit 190 is arranged may be any position. For example, it may be arranged inside the rail 120.

2. Configuration of Product Holding Unit Here, variations of the product holding unit 170 will be described. The following are merely examples, and any other configuration may be used as long as the holding and releasing of the product P1 can be controlled. These configurations may be appropriately selected depending on the shape, weight, or material of the product to be conveyed.

2-1. Suction Product Holding Unit FIG. 3 shows an air suction type suction unit 10 as an example of the product holding unit 170. The suction unit 10 holds the product P1 by sucking air, and stops holding the product P1 by stopping sucking air or sending air. The adsorbing part 10 has a close contact part 11 and an air blowing path 12. The close contact portion 11 is provided at the tip of the suction portion 10. And it is a location which actually adheres to the product P1. The air blowing path 12 communicates with the inside of the adsorption unit 10. The pump 180 is also communicated.

  Therefore, the pump 180 can adjust the internal pressure of the adsorption unit 10. And the suction part 10 hold | maintains the product P1 by attracting | sucking the air of the suction part 10. FIG. On the other hand, the suction unit 10 releases the holding of the product P1 by sending air to the suction unit 10 to increase the internal pressure of the suction unit 10.

2-2. Gripping Product Holding Unit FIG. 4 shows a gripping gripping unit 20 as an example of the product holding unit 170. The grip 20 has fingers 21 and 22, an actuator 23, an electric wire 24, and a motor M. The finger 21 and the finger 22 are for gripping the product P1 with these. The fingers 21 and 22 are moved by changing the rotational drive of the motor M into a linear motion by the actuator 23. The motor M is driven by obtaining electric power from the electric wire 24. Although the thing of FIG. 4 was moved by electric power, it is good also as moving by air.

2-3. Magnet Type Product Holding Unit FIG. 5 shows a magnet type holding unit 30 as an example of the product holding unit 170. The grip portion 30 includes fingers 31 and 32, an electric wire 37, and a top plate 38. The fingers 31 and 32 actually sandwich the product P1. The fingers 31 and 32 have electromagnets 33 and 34 and elastic members 35 and 36. The electromagnets 33 and 34 are supplied with electric power from the electric wire 37 and become either a magnetic state or a non-magnetic state. The elastic members 35 and 36 are cushioning materials for absorbing an impact when the product P1 is sandwiched between the fingers 31 and 32 when the electromagnets 33 and 34 are attracted to each other. The fingers 31 and 32 hold the product P1 within a period in which the electromagnets 33 and 34 have different polarities. During a period in which the electromagnets 33 and 34 have the same polarity, the fingers 31 and 32 release the product P1.

  Moreover, you may use the shape shown in FIG. 3 and adsorb | sucking directly with an electromagnet.

3. Transport route 3-1. Here, the transport path and transport method of the product P1 by the product transport apparatus 100 will be described. FIG. 6 shows an example of a conveyance path for conveying the product P1. As shown in FIG. 6, the conveyance path O1 is a track close to a trapezoidal shape. The camera 110 can be monitored over the transport path O1 and the surrounding area.

  Here, the start point I1 and the end point F1. The starting point I1 indicates the position of the product P1 conveyed from the belt conveyor C1. The end point F <b> 1 indicates a position where the products P <b> 1 are stacked by the conveyance of the products P <b> 1 by the product conveyance device 100. Actually, the position of the product P1 conveyed from the belt conveyor C1 varies. Moreover, the position where the products P1 are stacked may vary in the arrangement position of the storage box B1. Further, the position where the product P1 is stacked is higher than the position of the product P1 stacked before that. After a certain number of products P1 are stacked, the products P1 are stacked in another row.

  Therefore, the positions of the start point I1 and the end point F1 are preferably positions that are average values of these variations. Of course, other positions may be used, but it is preferable that the position does not deviate so much from the average value. As described above, the transport path O1 represents a rough trajectory of the transport of the product P1, a typical trajectory.

  The permissible region R1 is a region that is separated from the transport path O1 by a predetermined distance L1. Therefore, the allowable region R1 has a cylindrical shape. The product transport apparatus 100 transports the product P1 within the allowable region R1 with reference to the transport path O1. Here, the distance L1 may be determined in consideration of the shape and weight of the product P1 to be conveyed. Although the region R1 has a cylindrical shape here, it may have a square pipe shape.

  In FIG. 6, the transport path O1 starts from the start point I1 in the horizontal direction and extends in the vertical direction to the end point F1. This assumes that the movement of the hand of the worker H moves as shown in FIG. Therefore, it is not necessarily limited to this operation.

3-2. Method for Determining the Transport Path The product transport apparatus 100 according to the present embodiment determines the transport path O1 by actually performing test transport of the product P1 by teaching. A point Dat in FIG. 6 is a data point stored by the teaching. A trajectory connecting the plurality of points Dat becomes a transport path O1.

  The point Dat, which is a data point, is acquired at regular intervals. Therefore, the product P1 is moved slowly in the region where the Dat interval is narrow. On the contrary, in the region where the Dat interval is wide, the product P1 is moved quickly. Thereby, the trajectory of conveyance of the product P1 and its temporal change are stored in the product conveyance device 100. The storage location is a storage unit inside the control unit 190.

  In this embodiment, the worker H and the product transport apparatus 100 transport the product P1 together. However, it is difficult for the worker H to repeat a certain operation like the machine. Therefore, it is desirable that the product conveyance device 100 moves in conjunction with the operation of the worker H. Therefore, in this embodiment, the product transport apparatus 100 performs feedback control on the position and speed of the product holding unit 170 based on the position information of the worker H acquired by the camera 110. The control unit of the control unit 190 performs this control. Thereby, the product holding | maintenance part 170 of the product conveyance apparatus 100 moves mainly along the profile which considered this conveyance path | route and conveyance speed.

4). Control flow (product transport method)
Next, a method for transporting the product P1 using the product transport apparatus 100 will be described with reference to the flowchart of FIG. Throughout this flowchart, the camera 110 continues to acquire the position information of the worker H and the product P1. The worker H is wearing work gloves. This is for safety. Moreover, as will be described later, if the characteristic of the glove to be worn is remarkable, the product transport device 100 can easily detect the work signal.

  First, the product P1 is transported from the belt conveyor C1 onto the table. However, the position where the product P1 is transported varies from lot to lot. On the other hand, the position of the product P1 held by the product holding unit 170 is substantially the same. Therefore, feedback control may be performed when the wire adjustment unit 160 and the product holding unit 170 are moved based on the position information of the worker H and the product P1 acquired by the camera 110.

  For example, feedback may be performed based on the difference between the conveyance path of the product P1 stored in advance and the actual position of the product P1. Alternatively, feedback may be performed based on the difference between the conveyance speed of the product P1 stored in advance and the actual conveyance speed of the product P1. Of course, both of these may be used. Further, as the conveyance path, the position information of the product holding unit 170 and the wire 140 may be used instead of the position information of the product P1.

  Further, the product P1 may be conveyed by feeding back the hand movement of the worker H. For example, feedback may be performed based on the difference between the conveyance path of the product P1 stored in advance and the position of the hand of the worker H. The wire adjustment unit 160 is moved so that these differences do not become larger than a predetermined threshold value. Alternatively, feedback may be performed based on the difference between the conveyance speed of the product P1 stored in advance and the speed of the hand of the worker H. Of course, both of these may be used. Furthermore, position information of the hand of the worker H may be used. In this manner, the product P1 is transported while the product P1 is held by the worker H and the product holding unit 170 of the product transporting apparatus 100.

S101:
Here, the camera 110 continues to acquire the position information of the worker H and the product P1. In S101, it is continuously monitored whether the worker H has grasped the product P1. Product P1 should be stationary on the table. On the other hand, the worker H tries to hold the product P1 by hand. Here, when the position of the hand of the worker H overlaps with the position of a part of the shape of the product P1, it is determined that the worker H has grasped the product P1. Alternatively, it may be determined that the worker H has grasped the product P1 after a predetermined time has elapsed since the position of the hand of the worker H overlapped with a position of a part of the shape of the product P1. In addition, what is necessary is just to set suitably about this predetermined time.

  Therefore, in S101, when the position of the hand of the worker H overlaps the position of the end of the shape of the product P1 (S101: Yes), the process proceeds to S102. When the position of the hand of the worker H does not overlap with the position of the end of the shape of the product P1 (S101: No), the acquisition of the position information of the worker H and the product P1 is continued.

S102:
Next, the product holding unit 170 is attracted to a predetermined location of the product P1. Here, the product holding unit 170 only holds the product P1, and does not attempt to move the product P1. Then, the process proceeds to S103.

S103:
Next, it is determined whether the hand of the worker H and the position of the product P1 have started to move toward the storage box B1. This is determined by the hand movement of the worker H and the variation in the position of the product P1. This is because the transport of the product P1 by the product holding unit 170 may be started if the hand of the worker H moves slightly toward the storage box B1.

  Therefore, when the position of the hand of the worker H and the product P1 starts to move toward the storage box B1 (S103: Yes), the process proceeds to S104. When the positions of the worker H and the product P1 have not moved toward the storage box B1 (S103: No), the acquisition of the position information of the worker H and the product P1 is continued.

S104:
In S104, the product holding unit 170 holds the product P1 and transports it while lifting the product P1. At this time, since the product holding part 170 mainly lifts the product P1, the physical load applied to the worker H is small. Further, the profile of the transport path and transport speed of the product P1 performed here is previously stored by teaching as described above. Therefore, each time the product P1 is transported, the product P1 is transported with substantially the same trajectory and speed.

  During the transfer of the product P1, the track and the moving speed of the transfer are monitored through the camera 110. If there is any abnormality, the product holding unit 170 performs a stop operation or the like as will be described later.

S105:
Then, a determination for loading the product P1 is performed. When the position of the hand of the worker H and the position of the product P1 are positions inside the storage box B1, and the moving speed of the hand of the worker H and the moving speed of the product P1 are equal to or less than a predetermined value. (S105: Yes), the process proceeds to S106. When that is not right (S105: No), acquisition of the positional information on the worker H and the product P1 is continued.

S106:
At the stage of proceeding to S106, the worker H and the product transport apparatus 100 are ready to place the product P1 on the bottom plate of the storage box B1 or the product P1 already stacked. Therefore, the product holding unit 170 releases the holding of the product P1. As a result, the product P1 is placed on the bottom plate of the storage box B1 or the product P1 already stacked while being assisted by the worker H. Thus, the worker H can perform fine adjustment when stacking the products P1.

  Note that after loading one product P1 in this way, the position of the product holding unit 170 may be moved toward the belt conveyor C1 to prepare for the next conveyance.

  Here, the position where the product holding unit 170 places the product P1 is one of the positions A1 to A4 illustrated in FIG. Locations A1 to A4 are regions inside the storage box B1. When the load amount of the product P1 is a certain number or more, it may be loaded at the next place. This stacking may be performed from a position on the back side in the transport direction. It is good also as loading sequentially in the direction which cross | intersects a conveyance direction.

5. Comparison with the past Conventionally, for a three-dimensional complex machine part, an operator loads the machine part into a storage box. This is because it is difficult to manufacture a transfer device that can handle a large number of machine parts having different shapes. Therefore, two workers are transporting heavy products.

  The product conveyance device 100 of this embodiment operates in conjunction with the worker H. Since the product transport apparatus 100 lifts the product P1, the physical burden on the worker H is small. In addition, a product that needs to be transported by two workers can be transported and loaded by one worker. Since the conveyance profile of the product P1 is determined in advance by teaching, the feedback control is also smooth. In addition, it is easy to respond even if it moves at high speed.

6). Modification 6-1. Variations of the Glove In order to make it easier to detect the movement of the hand of the worker H as the position information and the speed information, the glove worn by the worker H may be characterized. For example, a band can be attached to the glove. Moreover, it is good also as attaching a band to a wrist. Moreover, you may color the color which is conspicuous. Alternatively, fluorescent paint may be applied.

6-2. Foot switch In this embodiment, the operation of the worker H is a signal for starting the conveyance of the product P1. However, another signal may be used as a signal for starting the conveyance of the product P1. For example, a foot switch can be used. The operator H can instruct the product transport apparatus 100 to start the movement of the product P1 by operating the foot switch with his / her foot. The end of the movement of the product P1 can be similarly indicated. In this case, it is necessary to provide two types of foot switches for start instruction and end instruction.

6-3. Product loading and unloading In the present embodiment, the product conveying device 100 is used for the loading operation for storing the product P1 transported by the belt conveyor C1 in the storage box B1. However, in order to supply the product P1 to the line, the unloading operation of taking out the product P1 from the storage box B1 may be performed using the product transporting apparatus 100.

6-4. Arrangement of Camera In the present embodiment, the product 110 is provided with the camera 110. A plurality of cameras may be provided. For example, apart from a camera overlooking the entire work area, a transfer start confirmation camera for acquiring in detail the position information of the hand of the worker H at the start of transfer may be arranged. Similarly, a conveyance end confirmation camera may be arranged at the end of conveyance. This is because it is possible to more reliably detect the work signal indicating the start of conveyance of the product P1 and the work signal indicating the end.

6-5. Teaching pattern In the present embodiment, the teaching pattern is stored in the control unit 190. A plurality of teaching patterns may be stored. For example, a different pattern is stored for each worker. As a result, it is possible to create a product conveyance pattern according to individual differences among workers. Therefore, the trajectory and speed for transporting the product P1 can be changed according to the height and skill level of the worker.

6-6. Holding start time In this embodiment, after determining that the hand of the worker H has grasped the product P1, the product holding unit 170 sucks the product P1. However, the product holding unit 170 may suck the product P1 before determining that the hand of the worker H has grasped the product P1. Since the product holding unit only holds the product, there is no danger to the worker H. In addition, since the worker H does not have to wait for the product P1 to be held by the product holding unit 170, the cycle time is shorter.

6-7. Holding release condition 6-7-1. In this embodiment, when the moving speed of the worker H and the moving speed of the product P1 by the camera 110 are reduced, the holding by the product holding unit 170 is released. The holding is released when the moving speed of the wire 140 becomes a certain value or less. Since the worker H is trying to load the product P1 in the storage box B1, the speed of the rails 120 and 130 and the wire 140 may still be sufficiently high even if the moving speed of the product P1 is slow.

  In this case, the movement of the wire 140 is transmitted to the product holding unit 170, and there is a possibility that the place where the product P1 is unloaded is shifted. Further, the irregular movement is transmitted to the product P1, and as a result of the worker H being unable to accurately load and unload the work, the worker H may be injured. Therefore, the holding by the product holding unit 170 may be released when the moving speed of the worker H's hand and the product P1 and the moving speed of the rails 120 and 130 and the wire 140 are lower than a certain speed.

6-7-2. Overlap of Hand Position and Product Position Further, when the position of the hand of the operator H and the position of the product P1 do not overlap, the product holding unit 170 releases the holding of the product P1. Even in this case, the holding of the product P1 can be released.

6-7-3. Work signal Further, based on a work signal issued by the worker H, the holding of the product P1 may be released. In this case, the camera 110 also serves as a work signal receiving unit. In addition, the worker H transmits a product holding release signal. For example, raising a thumb.

6-8. In the present embodiment, the transport path O1 is determined by teaching. However, the transport path O1 may be determined in advance separately. It is possible to set the transport route O1 suitable for transport. However, it is easier for the worker H to work when the conveyance path O1 is actually set by teaching. Therefore, by default, when a pattern that seems to be suitable for conveyance is input in advance and teaching is performed, the conveyance path O1 obtained by teaching may be adopted. That is, the worker H who is a user can customize the transport route O1.

6-9. Product Rotation When the product P1 is conveyed, the product P1 can be rotated about the wire 140 as a rotation axis. The rotation of the product P1 in this case may be performed by the worker H.

6-10. Trajectory Correction When the product holding unit 170 deviates from the region R1, the operation of the product transport apparatus 100 is stopped. However, the operation range of the product holding unit 170 may be controlled so as not to deviate from the region R1. What is necessary is just to control the motor etc. which control the position of the rails 120 and 130 and the length of the wire 140 so that the product holding | maintenance part 170 may not go outside the area | region R1.

6-11. Support Unit In this embodiment, the wire 140 is used as the support unit. However, a chain or the like may be used instead of the wire 140. If it is a string-like thing, fine adjustment by the operator H is easy to perform. A rod may also be used. However, it is preferable that it can expand and contract.

7). Summary As described in detail above, the product transport apparatus 100 of this embodiment includes the wire 140 that can be moved in any of the X-axis direction, the Y-axis direction, and the Z-axis direction, and the product holding unit 170. Further, since the work is performed in pairs with the worker, the product P1 can be transported in correspondence with various products having a complicated three-dimensional shape. Since the basic operation of the product holding unit 170 is programmed by teaching, a fast and smooth operation is possible.

  This embodiment is merely an example. Therefore, naturally, various improvements and modifications can be made without departing from the scope of the invention. The product holding part does not depend on the illustrated shape or the like. Any other structure may be used as long as the product P1 can be held and released.

(Second Embodiment)
A second embodiment will be described. The product conveying apparatus 200 of 2nd Embodiment has two wires. In this respect, it is different from the first embodiment. Therefore, it demonstrates centering on this different point, and abbreviate | omits description about the overlapping point.

1. Configuration of Product Conveying Device The configuration of the product conveying device 200 of this embodiment is shown in FIG. As shown in FIG. 9, the product transport device 200 includes a camera 210, rails 220 and 230, a first wire 240, a second wire 250, a product holding unit 270, and a control unit 290. doing. Here, the camera 210, the rails 220 and 230, the product holding unit 270, and the control unit 290 are substantially the same as those in the first embodiment.
The rail 230 is an actuator.

2. Wire 2-1. Wire Arrangement As shown in FIG. 9, the product conveyance device 200 has two wires. By combining the rail 220 and the rail 230, the first wire 240 and the second wire 250 can move in the X-axis direction and the Y-axis direction. Further, both the first wire 240 and the second wire 250 can be expanded and contracted.

  The 1st wire 240 and the 2nd wire 250 are arranged along with direction DP of the conveyance direction of product P1. Therefore, when the product P1 is transported to the storage box B1, the first wire 240 is positioned on the front side in the traveling direction, and the second wire 250 is positioned on the rear side in the traveling direction. On the contrary, after the product P1 has been transported to the storage box B1, when the product holding part 270 is moved to the position on the belt conveyor C1, the second wire 250 is positioned on the front side in the traveling direction. One wire 240 is positioned on the rear side in the traveling direction.

  That is, one of the first wire 240 and the second wire 250 is arranged at a position on the front side in the traveling direction in the conveyance direction of the product P1, and the first wire 240 and the second wire 250 are The other is arranged at a position on the rear side in the traveling direction in the conveyance direction of the product P1.

2-2. Here, a case where the product P1 is moved from the belt conveyor C1 toward the storage box B1 (in the case of forward movement) will be described. When moving forward, as described above, the first wire 240 is positioned on the front side in the traveling direction. When the product P1 reaches the location of the storage box B1, the lateral movement of the product P1 stops. At this time, the product P1 tends to move forward due to inertia. For this reason, a swing occurs in the suspended product P1.

  Therefore, when this advancement is stopped, the second wire 250 is slightly pulled. As a result, the product P1 can be stopped from moving forward due to inertia. That is, shaking can be suppressed. At this time, the second wire 250 may be moved upward or backward in the traveling direction.

2-3. In the case of retreating Here, the case where the product P1 is moved from the storage box B1 toward the belt conveyor C1 (in the case of retreating) will be described. In this case, it is only necessary to pull the rear wire as in the case of forward movement. In the case of the backward movement, the first wire 240 is located at the rear in the traveling direction. Therefore, the first wire 240 may be moved upward or backward in the traveling direction.

3. Rotating the product When rotating the product, do as follows. The product P1 is suspended only by the first wire 240, and the second wire 250 is separated from the product P1. Alternatively, the product P1 is suspended only by the second wire 250, and the first wire 240 is separated from the product P1. In other words, the product P1 is indicated by either the first wire 240 or the second wire 250.

4). Modifications Also in this embodiment, all the modifications described in the first embodiment can be applied. For this reason, only modifications specific to this embodiment will be described.

  In the present embodiment, the product conveyance device 200 has two wires. These wires may be the same or different. Also, one of the two may be mainly used, and the other one may be used as an auxiliary.

5. Summary As described in detail above, the product conveyance device 200 of the present embodiment includes the first wire 240 and the second wire 250 that can be moved in any of the X-axis direction, the Y-axis direction, and the Z-axis direction, and the product holding. Part 270. Further, since the work is performed in pairs with the worker, the product P1 can be transported in correspondence with various products having a complicated three-dimensional shape. Since the basic operation of the product holding unit 270 is programmed by teaching, a fast and smooth operation is possible.

  This embodiment is merely an example. Therefore, naturally, various improvements and modifications can be made without departing from the scope of the invention. The product holding part does not depend on the illustrated shape or the like. Any other structure may be used as long as the product P1 can be held and released.

DESCRIPTION OF SYMBOLS 100, 200 ... Product conveyance apparatus 110, 210 ... Camera 120, 130, 220, 230 ... Rail 140 ... Wire 160 ... Wire adjustment part 170, 270 ... Product holding part 190, 290 ... Control unit 240 ... 1st wire 250 ... 2nd wire B1 ... storage box C1 ... belt conveyor P1 ... product H ... worker

The present invention relates to a product conveying device for conveying the product. More particularly, it relates to a product conveying device capable of performing the conveyance of product on one of the operator.

  Conventionally, robots are often used to transport products. This is to cut costs by reducing the number of workers and to reduce the risk of accidents. For example, Patent Document 1 discloses a transport system for transporting and storing a plate-like member such as an electronic display.

JP 2006-347753 A

  By the way, in addition to the plate-like member which is the object of conveyance and accommodation in Patent Document 1, there are various mechanical parts having various shapes. For example, a press-formed product that has been pressed may be mentioned. As described above, many machine products such as automobile parts have a complicated three-dimensional shape. In addition, when a machine part is delivered from a parts manufacturer to a finished product manufacturer, it is generally delivered in a state where a large number of machine parts are loaded. Therefore, a certain degree of accuracy is required. In addition, a certain level of speed is required to increase line productivity. Nevertheless, many machine parts such as automobile parts are heavy.

  It is difficult to manufacture a robot that meets such requirements. For example, when transporting using a robot, it is not easy to stack the machine parts while removing the robot fingers. Each time it is stacked, it is necessary to recalculate the loading position, which requires calculation time. This makes it difficult to carry in a short time. In addition, it is not easy to manufacture a robot that can handle various types of mechanical parts having complicated three-dimensional shapes. However, if a dedicated conveying device is manufactured for each product, a very large number of conveying devices are required. In addition, the cost is high.

The present invention has been made to solve the above-described problems of the prior art. That is, the object is to provide a product transport apparatus that can stack or unload products having complicated three-dimensional shapes.

  The product conveyance device in the first aspect is for conveying a product. And this product conveyance device includes a product holding part for holding and releasing the product, a support part for supporting the product holding part, a rail for guiding the movement of the support part, and from the product holding part to the rail. A support part length adjusting part that adjusts the length of the support part, a support part moving part that moves the support part along the rail, a position information acquisition part that acquires the position information of the worker and the position information of the product, and a position A control unit that controls movement of at least one of the support unit moving unit and the support unit length adjusting unit by feeding back the position information of the worker and the position information of the product acquired by the information acquisition unit.

  This product conveyance device is a device that conveys a product by moving with an operator. Therefore, the product can be transported by one worker. Moreover, since this product conveyance apparatus bears most of the product load, the burden on the operator is reduced. On the other hand, the operator can perform fine adjustment when placing or stacking products. In this way, the load burden is reduced and the operator can concentrate his / her consciousness on the fine adjustment, so that the product can be stacked with high accuracy. Further, since the product conveying device does not need to perform high-precision calculation for fine adjustment, it can carry at high speed.

  The product conveyance device according to the second aspect includes a storage unit that previously stores the conveyance path of the product holding unit. The control unit controls the movement of at least one of the support unit moving unit and the support unit length adjusting unit based on the conveyance path of the product holding unit. Since the conveyance path along which the product holding unit moves is stored in advance, it can be moved at high speed. This is because there is no need to recalculate each time.

  In the product transport apparatus according to the third aspect, the storage unit stores the transport path and the transport speed by teaching. Thereby, a product can be conveyed with a suitable conveyance path and conveyance speed.

  In the product transport apparatus according to the fourth aspect, the control unit performs feedback control based on a difference between at least one of the transport path and the transport speed and at least one of the position information and the speed information of the operator's hand. . Thereby, a product can be conveyed, following a movement of a worker's hand to some extent. Accordingly, the workability of the worker is excellent.

  In the product transport apparatus according to the fifth aspect, the control unit prevents the difference between at least one of the transport path and the transport speed and at least one of the position information and the speed information of the operator's hand from becoming larger than a predetermined threshold. In addition, the movement of at least one of the support part moving part and the support part length adjusting part is controlled. This is to suppress variations in the conveyance path caused by the worker and to improve safety during conveyance.

  In the product conveyance device according to the sixth aspect, the support portion includes a first support member and a second support member, and one of the first support member and the second support member conveys the product. The other of the first support member and the second support member is disposed on the rear side in the traveling direction in the product conveyance direction. Thereby, a product can be conveyed in the state maintained stably. In addition, the product can be prevented from shaking due to conveyance.

In the product transport device according to the seventh aspect, the product holding unit holds the product when the position of the operator's hand and the position of the product overlap, and the position of the operator's hand and the position of the product are Release the product if it does not overlap. Thereby, conveyance of a suitable product is realizable.

  The product conveyance device according to the eighth aspect includes a work signal receiving unit that receives a work signal instructed by the worker. The product holding unit releases the holding of the product when the product holding release signal is received by the work signal receiving unit. For this reason, the product holding unit can suitably place and stack products together with the worker.

  In the product conveyance device according to the ninth aspect, the support portion has a wire. Since the wire bends to some extent, even if a slight deviation occurs between the operation of the operator and the operation of the product conveying device, the wire absorbs the deviation. Therefore, even if a deviation occurs between the operation of the operator and the operation of the product transport device, there is almost no risk of injury to the operator. Moreover, it is excellent in workability.

  In the product conveyance device according to the tenth aspect, the support portion has a telescopic rod. Also in this case, it can be conveyed.

ADVANTAGE OF THE INVENTION According to this invention, the product conveyance apparatus which can pile up or unload the product which has complicated three-dimensional shape is provided.

It is a figure which shows one example of the product conveyed by the product conveyance apparatus which concerns on embodiment. It is a schematic block diagram which shows the structure of the product conveyance apparatus which concerns on 1st Embodiment. It is a figure (the 1) which shows an example of the product holding part of the product conveyance apparatus which concerns on embodiment. It is FIG. (2) which shows an example of the product holding part of the product conveyance apparatus which concerns on embodiment. It is FIG. (3) which shows an example of the product holding part of the product conveyance apparatus which concerns on embodiment. It is a figure which shows the conveyance path | route of the product conveyed by the product conveyance apparatus which concerns on embodiment. It is a flowchart for demonstrating operation | movement of the product conveyance apparatus which concerns on embodiment. It is a figure which shows the area | region inside the storage box in which the product conveyance apparatus which concerns on embodiment accommodates a product. It is a schematic block diagram which shows the structure of the product conveyance apparatus which concerns on 2nd Embodiment.

  Hereinafter, specific embodiments will be described with reference to the drawings. However, these are examples and are not limited to these embodiments.

(First embodiment)
1. Product conveying device 1-1. Product to be transported A first embodiment will be described. The product conveying apparatus of this embodiment is for conveying the product which has a complicated solid shape as shown in FIG. For example, the product P1 is a press-formed product. Here, “product” includes parts that are not finished products such as automobile parts. And the product conveyance apparatus of this embodiment can perform the loading or unloading of the product in the shipping container. Moreover, the product conveyance apparatus of this embodiment can convey not only the product P1 shown in FIG. 1 but the product of another shape. Of course, a product having a simple shape such as a plate-like member can also be conveyed.

1-2. Configuration of Product Conveying Device The configuration of the product conveying device 100 of this embodiment is shown in FIG. In FIG. 2, in addition to the product conveying apparatus 100, a belt conveyor C <b> 1 and an operator H who carry the manufactured product P <b> 1 in the factory are depicted. The product conveying apparatus 100 is for accommodating the product P1 conveyed by the belt conveyor C1 in the factory line in the storage box B1. The product conveyance device 100 moves according to the movement of the worker H. And with the worker H, the product P1 is accommodated while being stacked inside the accommodation box B1. Therefore, not all operations are performed automatically. The worker H receives the assistance of the product transport device 100 and transports the product P1.

  In order to increase the productivity in the factory line, it is necessary to increase the conveyance speed of the product P1 to some extent. For example, it is 300 mm / sec or more and 1000 mm / sec or less. However, these are merely examples, and it is of course possible to transport at other transport speeds depending on the product to be transported and the environment in the factory.

  As illustrated in FIG. 2, the product conveyance device 100 includes a camera 110, a rail 120, a rail 130, a wire 140, and a product holding unit 170.

  The camera 110 is a position information acquisition unit that acquires the position of the product P1 and the position of the worker H as position information. And it also serves as a work signal receiving unit for receiving a work signal issued by the worker H. Here, the work signal refers to a signal for the worker H to communicate his intention regarding work. For example, there are cues for instructing the start of product conveyance by the product conveyance device 100 and an emergency stop.

  The rail 120 is for moving the rail 130 in the X-axis direction. By moving the rail 130, the wire 140 and the product holding part 170 are moved in the X-axis direction.

  The rail 130 is for moving the wire 140 and the product holding part 170 in the Y-axis direction. The rail 130 intersects with the rail 120. In FIG. 2, the rail 130 is orthogonal to the rail 120. The rail 120 and the rail 130 do not necessarily need to be orthogonal. This is because the wire 140 and the product holding unit 170 can be moved on the XY plane if they intersect each other. As described above, the rails 120 and 130 are used to guide the movement of the wire 140 and the product holding unit 170.

  The wire 140 is a support part for supporting the product holding part 170. Therefore, it is connected to the product holding unit 170. The wire 140 can be expanded and contracted. And it is used for lifting the product P1. That is, the product P1 can be moved in the Z-axis direction.

  The wire adjustment unit 160 is a support unit length adjustment unit that adjusts the length of the wire 140. Here, the length of the wire 140 refers to the length from the product holding unit 170 to the rail 130. By changing the length of the wire 140, the product holding part 170 can be moved in the Z-axis direction. In addition, the wire adjustment unit 160 also serves as a support unit moving unit that moves the wire 140 along the rail 130. In this way, the product holding unit 170 and the product holding unit 170 hold by combining the movements in the respective directions (X-axis direction, Y-axis direction, and Z-axis direction) in the rails 120 and 130 and the wire adjustment unit 160. The three-dimensional trajectory and moving speed of the product P1 can be determined.

  The product holding unit 170 is a product holding unit for holding a product. The product can be held and released. The product P1 is continuously held from the start of conveyance of the product P1 to the end of the stacking of the product P1. Specifically, it will be described later.

  The pump 180 is for supplying air to the product holding unit 170 and sucking air. Thereby, the product holding unit 170 can hold and release the product. Of course, an air supply path in the factory may be used instead of the pump 180. In addition, when electric power is used for holding the product P1 in the product holding unit 170, a pump is not necessary.

  Various actuators may be used for the operation of the rails 120 and 130. A motor can be used to move these. For example, if it is a servo motor, the position of the product holding | maintenance part 170 and the product P1 can be controlled with high precision. In FIG. 2, members that indicate the rails 120 and 130 are not drawn. However, these support members actually exist only by omitting the description.

  The control unit 190 has a control unit for controlling the operation of each unit. Further, the control unit feeds back the position information of the worker H and the position information of the product P1 acquired by the camera 110, thereby controlling the movement of the wire adjustment unit 160, that is, the movement of the product holding unit 170. Is. As a result, the movement of at least one of the XY plane coordinates and the Z-axis coordinates of the product P1 held by the product holding unit 170 is controlled.

  The control unit 190 also has a storage unit that stores a program for controlling the operation of each unit. The storage unit also stores in advance the conveyance path of the product holding unit 170. As will be described later, the conveyance path and conveyance speed of the product holding unit 170 are stored by teaching. Then, the control unit controls the movement of the wire adjusting unit 160 based on the stored conveyance path and the like. The position where the control unit 190 is arranged may be any position. For example, it may be arranged inside the rail 120.

2. Configuration of Product Holding Unit Here, variations of the product holding unit 170 will be described. The following are merely examples, and any other configuration may be used as long as the holding and releasing of the product P1 can be controlled. These configurations may be appropriately selected depending on the shape, weight, or material of the product to be conveyed.

2-1. Suction Product Holding Unit FIG. 3 shows an air suction type suction unit 10 as an example of the product holding unit 170. The suction unit 10 holds the product P1 by sucking air, and stops holding the product P1 by stopping sucking air or sending air. The adsorbing part 10 has a close contact part 11 and an air blowing path 12. The close contact portion 11 is provided at the tip of the suction portion 10. And it is a location which actually adheres to the product P1. The air blowing path 12 communicates with the inside of the adsorption unit 10. The pump 180 is also communicated.

  Therefore, the pump 180 can adjust the internal pressure of the adsorption unit 10. And the suction part 10 hold | maintains the product P1 by attracting | sucking the air of the suction part 10. FIG. On the other hand, the suction unit 10 releases the holding of the product P1 by sending air to the suction unit 10 to increase the internal pressure of the suction unit 10.

2-2. Gripping Product Holding Unit FIG. 4 shows a gripping gripping unit 20 as an example of the product holding unit 170. The grip 20 has fingers 21 and 22, an actuator 23, an electric wire 24, and a motor M. The finger 21 and the finger 22 are for gripping the product P1 with these. The fingers 21 and 22 are moved by changing the rotational drive of the motor M into a linear motion by the actuator 23. The motor M is driven by obtaining electric power from the electric wire 24. Although the thing of FIG. 4 was moved by electric power, it is good also as moving by air.

2-3. Magnet Type Product Holding Unit FIG. 5 shows a magnet type holding unit 30 as an example of the product holding unit 170. The grip portion 30 includes fingers 31 and 32, an electric wire 37, and a top plate 38. The fingers 31 and 32 actually sandwich the product P1. The fingers 31 and 32 have electromagnets 33 and 34 and elastic members 35 and 36. The electromagnets 33 and 34 are supplied with electric power from the electric wire 37 and become either a magnetic state or a non-magnetic state. The elastic members 35 and 36 are cushioning materials for absorbing an impact when the product P1 is sandwiched between the fingers 31 and 32 when the electromagnets 33 and 34 are attracted to each other. The fingers 31 and 32 hold the product P1 within a period in which the electromagnets 33 and 34 have different polarities. During a period in which the electromagnets 33 and 34 have the same polarity, the fingers 31 and 32 release the product P1.

  Moreover, you may use the shape shown in FIG. 3 and adsorb | sucking directly with an electromagnet.

3. Transport route 3-1. Here, the transport path and transport method of the product P1 by the product transport apparatus 100 will be described. FIG. 6 shows an example of a conveyance path for conveying the product P1. As shown in FIG. 6, the conveyance path O1 is a track close to a trapezoidal shape. The camera 110 can be monitored over the transport path O1 and the surrounding area.

  Here, the start point I1 and the end point F1. The starting point I1 indicates the position of the product P1 conveyed from the belt conveyor C1. The end point F <b> 1 indicates a position where the products P <b> 1 are stacked by the conveyance of the products P <b> 1 by the product conveyance device 100. Actually, the position of the product P1 conveyed from the belt conveyor C1 varies. Moreover, the position where the products P1 are stacked may vary in the arrangement position of the storage box B1. Further, the position where the product P1 is stacked is higher than the position of the product P1 stacked before that. After a certain number of products P1 are stacked, the products P1 are stacked in another row.

  Therefore, the positions of the start point I1 and the end point F1 are preferably positions that are average values of these variations. Of course, other positions may be used, but it is preferable that the position does not deviate so much from the average value. As described above, the transport path O1 represents a rough trajectory of the transport of the product P1, a typical trajectory.

  The permissible region R1 is a region that is separated from the transport path O1 by a predetermined distance L1. Therefore, the allowable region R1 has a cylindrical shape. The product transport apparatus 100 transports the product P1 within the allowable region R1 with reference to the transport path O1. Here, the distance L1 may be determined in consideration of the shape and weight of the product P1 to be conveyed. Although the region R1 has a cylindrical shape here, it may have a square pipe shape.

  In FIG. 6, the transport path O1 starts from the start point I1 in the horizontal direction and extends in the vertical direction to the end point F1. This assumes that the movement of the hand of the worker H moves as shown in FIG. Therefore, it is not necessarily limited to this operation.

3-2. Method for Determining the Transport Path The product transport apparatus 100 according to the present embodiment determines the transport path O1 by actually performing test transport of the product P1 by teaching. A point Dat in FIG. 6 is a data point stored by the teaching. A trajectory connecting the plurality of points Dat becomes a transport path O1.

  The point Dat, which is a data point, is acquired at regular intervals. Therefore, the product P1 is moved slowly in the region where the Dat interval is narrow. On the contrary, in the region where the Dat interval is wide, the product P1 is moved quickly. Thereby, the trajectory of conveyance of the product P1 and its temporal change are stored in the product conveyance device 100. The storage location is a storage unit inside the control unit 190.

  In this embodiment, the worker H and the product transport apparatus 100 transport the product P1 together. However, it is difficult for the worker H to repeat a certain operation like the machine. Therefore, it is desirable that the product conveyance device 100 moves in conjunction with the operation of the worker H. Therefore, in this embodiment, the product transport apparatus 100 performs feedback control on the position and speed of the product holding unit 170 based on the position information of the worker H acquired by the camera 110. The control unit of the control unit 190 performs this control. Thereby, the product holding | maintenance part 170 of the product conveyance apparatus 100 moves mainly along the profile which considered this conveyance path | route and conveyance speed.

4). Control flow (product transport method)
Next, a method for transporting the product P1 using the product transport apparatus 100 will be described with reference to the flowchart of FIG. Throughout this flowchart, the camera 110 continues to acquire the position information of the worker H and the product P1. The worker H is wearing work gloves. This is for safety. Moreover, as will be described later, if the characteristic of the glove to be worn is remarkable, the product transport device 100 can easily detect the work signal.

  First, the product P1 is transported from the belt conveyor C1 onto the table. However, the position where the product P1 is transported varies from lot to lot. On the other hand, the position of the product P1 held by the product holding unit 170 is substantially the same. Therefore, feedback control may be performed when the wire adjustment unit 160 and the product holding unit 170 are moved based on the position information of the worker H and the product P1 acquired by the camera 110.

  For example, feedback may be performed based on the difference between the conveyance path of the product P1 stored in advance and the actual position of the product P1. Alternatively, feedback may be performed based on the difference between the conveyance speed of the product P1 stored in advance and the actual conveyance speed of the product P1. Of course, both of these may be used. Further, as the conveyance path, the position information of the product holding unit 170 and the wire 140 may be used instead of the position information of the product P1.

  Further, the product P1 may be conveyed by feeding back the hand movement of the worker H. For example, feedback may be performed based on the difference between the conveyance path of the product P1 stored in advance and the position of the hand of the worker H. The wire adjustment unit 160 is moved so that these differences do not become larger than a predetermined threshold value. Alternatively, feedback may be performed based on the difference between the conveyance speed of the product P1 stored in advance and the speed of the hand of the worker H. Of course, both of these may be used. Furthermore, position information of the hand of the worker H may be used. In this manner, the product P1 is transported while the product P1 is held by the worker H and the product holding unit 170 of the product transporting apparatus 100.

S101:
Here, the camera 110 continues to acquire the position information of the worker H and the product P1. In S101, it is continuously monitored whether the worker H has grasped the product P1. Product P1 should be stationary on the table. On the other hand, the worker H tries to hold the product P1 by hand. Here, when the position of the hand of the worker H overlaps with the position of a part of the shape of the product P1, it is determined that the worker H has grasped the product P1. Alternatively, it may be determined that the worker H has grasped the product P1 after a predetermined time has elapsed since the position of the hand of the worker H overlapped with a position of a part of the shape of the product P1. In addition, what is necessary is just to set suitably about this predetermined time.

  Therefore, in S101, when the position of the hand of the worker H overlaps the position of the end of the shape of the product P1 (S101: Yes), the process proceeds to S102. When the position of the hand of the worker H does not overlap with the position of the end of the shape of the product P1 (S101: No), the acquisition of the position information of the worker H and the product P1 is continued.

S102:
Next, the product holding unit 170 is attracted to a predetermined location of the product P1. Here, the product holding unit 170 only holds the product P1, and does not attempt to move the product P1. Then, the process proceeds to S103.

S103:
Next, it is determined whether the hand of the worker H and the position of the product P1 have started to move toward the storage box B1. This is determined by the hand movement of the worker H and the variation in the position of the product P1. This is because the transport of the product P1 by the product holding unit 170 may be started if the hand of the worker H moves slightly toward the storage box B1.

  Therefore, when the position of the hand of the worker H and the product P1 starts to move toward the storage box B1 (S103: Yes), the process proceeds to S104. When the positions of the worker H and the product P1 have not moved toward the storage box B1 (S103: No), the acquisition of the position information of the worker H and the product P1 is continued.

S104:
In S104, the product holding unit 170 holds the product P1 and transports it while lifting the product P1. At this time, since the product holding part 170 mainly lifts the product P1, the physical load applied to the worker H is small. Further, the profile of the transport path and transport speed of the product P1 performed here is previously stored by teaching as described above. Therefore, each time the product P1 is transported, the product P1 is transported with substantially the same trajectory and speed.

  During the transfer of the product P1, the track and the moving speed of the transfer are monitored through the camera 110. If there is any abnormality, the product holding unit 170 performs a stop operation or the like as will be described later.

S105:
Then, a determination for loading the product P1 is performed. When the position of the hand of the worker H and the position of the product P1 are positions inside the storage box B1, and the moving speed of the hand of the worker H and the moving speed of the product P1 are equal to or less than a predetermined value. (S105: Yes), the process proceeds to S106. When that is not right (S105: No), acquisition of the positional information on the worker H and the product P1 is continued.

S106:
At the stage of proceeding to S106, the worker H and the product transport apparatus 100 are ready to place the product P1 on the bottom plate of the storage box B1 or the product P1 already stacked. Therefore, the product holding unit 170 releases the holding of the product P1. As a result, the product P1 is placed on the bottom plate of the storage box B1 or the product P1 already stacked while being assisted by the worker H. Thus, the worker H can perform fine adjustment when stacking the products P1.

  Note that after loading one product P1 in this way, the position of the product holding unit 170 may be moved toward the belt conveyor C1 to prepare for the next conveyance.

  Here, the position where the product holding unit 170 places the product P1 is one of the positions A1 to A4 illustrated in FIG. Locations A1 to A4 are regions inside the storage box B1. When the load amount of the product P1 is a certain number or more, it may be loaded at the next place. This stacking may be performed from a position on the back side in the transport direction. It is good also as loading sequentially in the direction which cross | intersects a conveyance direction.

5. Comparison with the past Conventionally, for a three-dimensional complex machine part, an operator loads the machine part into a storage box. This is because it is difficult to manufacture a transfer device that can handle a large number of machine parts having different shapes. Therefore, two workers are transporting heavy products.

  The product conveyance device 100 of this embodiment operates in conjunction with the worker H. Since the product transport apparatus 100 lifts the product P1, the physical burden on the worker H is small. In addition, a product that needs to be transported by two workers can be transported and loaded by one worker. Since the conveyance profile of the product P1 is determined in advance by teaching, the feedback control is also smooth. In addition, it is easy to respond even if it moves at high speed.

6). Modification 6-1. Variations of the Glove In order to make it easier to detect the movement of the hand of the worker H as the position information and the speed information, the glove worn by the worker H may be characterized. For example, a band can be attached to the glove. Moreover, it is good also as attaching a band to a wrist. Moreover, you may color the color which is conspicuous. Alternatively, fluorescent paint may be applied.

6-2. Foot switch In this embodiment, the operation of the worker H is a signal for starting the conveyance of the product P1. However, another signal may be used as a signal for starting the conveyance of the product P1. For example, a foot switch can be used. The operator H can instruct the product transport apparatus 100 to start the movement of the product P1 by operating the foot switch with his / her foot. The end of the movement of the product P1 can be similarly indicated. In this case, it is necessary to provide two types of foot switches for start instruction and end instruction.

6-3. Product loading and unloading In the present embodiment, the product conveying device 100 is used for the loading operation for storing the product P1 transported by the belt conveyor C1 in the storage box B1. However, in order to supply the product P1 to the line, the unloading operation of taking out the product P1 from the storage box B1 may be performed using the product transporting apparatus 100.

6-4. Arrangement of Camera In the present embodiment, the product 110 is provided with the camera 110. A plurality of cameras may be provided. For example, apart from a camera overlooking the entire work area, a transfer start confirmation camera for acquiring in detail the position information of the hand of the worker H at the start of transfer may be arranged. Similarly, a conveyance end confirmation camera may be arranged at the end of conveyance. This is because it is possible to more reliably detect the work signal indicating the start of conveyance of the product P1 and the work signal indicating the end.

6-5. Teaching pattern In the present embodiment, the teaching pattern is stored in the control unit 190. A plurality of teaching patterns may be stored. For example, a different pattern is stored for each worker. As a result, it is possible to create a product conveyance pattern according to individual differences among workers. Therefore, the trajectory and speed for transporting the product P1 can be changed according to the height and skill level of the worker.

6-6. Holding start time In this embodiment, after determining that the hand of the worker H has grasped the product P1, the product holding unit 170 sucks the product P1. However, the product holding unit 170 may suck the product P1 before determining that the hand of the worker H has grasped the product P1. Since the product holding unit only holds the product, there is no danger to the worker H. In addition, since the worker H does not have to wait for the product P1 to be held by the product holding unit 170, the cycle time is shorter.

6-7. Holding release condition 6-7-1. In this embodiment, when the moving speed of the worker H and the moving speed of the product P1 by the camera 110 are reduced, the holding by the product holding unit 170 is released. The holding is released when the moving speed of the wire 140 becomes a certain value or less. Since the worker H is trying to load the product P1 in the storage box B1, the speed of the rails 120 and 130 and the wire 140 may still be sufficiently high even if the moving speed of the product P1 is slow.

  In this case, the movement of the wire 140 is transmitted to the product holding unit 170, and there is a possibility that the place where the product P1 is unloaded is shifted. Further, the irregular movement is transmitted to the product P1, and as a result of the worker H being unable to accurately load and unload the work, the worker H may be injured. Therefore, the holding by the product holding unit 170 may be released when the moving speed of the worker H's hand and the product P1 and the moving speed of the rails 120 and 130 and the wire 140 are lower than a certain speed.

6-7-2. Overlap of Hand Position and Product Position Further, when the position of the hand of the operator H and the position of the product P1 do not overlap, the product holding unit 170 releases the holding of the product P1. Even in this case, the holding of the product P1 can be released.

6-7-3. Work signal Further, based on a work signal issued by the worker H, the holding of the product P1 may be released. In this case, the camera 110 also serves as a work signal receiving unit. In addition, the worker H transmits a product holding release signal. For example, raising a thumb.

6-8. In the present embodiment, the transport path O1 is determined by teaching. However, the transport path O1 may be determined in advance separately. It is possible to set the transport route O1 suitable for transport. However, it is easier for the worker H to work when the conveyance path O1 is actually set by teaching. Therefore, by default, when a pattern that seems to be suitable for conveyance is input in advance and teaching is performed, the conveyance path O1 obtained by teaching may be adopted. That is, the worker H who is a user can customize the transport route O1.

6-9. Product Rotation When the product P1 is conveyed, the product P1 can be rotated about the wire 140 as a rotation axis. The rotation of the product P1 in this case may be performed by the worker H.

6-10. Trajectory Correction When the product holding unit 170 deviates from the region R1, the operation of the product transport apparatus 100 is stopped. However, the operation range of the product holding unit 170 may be controlled so as not to deviate from the region R1. What is necessary is just to control the motor etc. which control the position of the rails 120 and 130 and the length of the wire 140 so that the product holding | maintenance part 170 may not go outside the area | region R1.

6-11. Support Unit In this embodiment, the wire 140 is used as the support unit. However, a chain or the like may be used instead of the wire 140. If it is a string-like thing, fine adjustment by the operator H is easy to perform. A rod may also be used. However, it is preferable that it can expand and contract.

7). Summary As described in detail above, the product transport apparatus 100 of this embodiment includes the wire 140 that can be moved in any of the X-axis direction, the Y-axis direction, and the Z-axis direction, and the product holding unit 170. Further, since the work is performed in pairs with the worker, the product P1 can be transported in correspondence with various products having a complicated three-dimensional shape. Since the basic operation of the product holding unit 170 is programmed by teaching, a fast and smooth operation is possible.

  This embodiment is merely an example. Therefore, naturally, various improvements and modifications can be made without departing from the scope of the invention. The product holding part does not depend on the illustrated shape or the like. Any other structure may be used as long as the product P1 can be held and released.

(Second Embodiment)
A second embodiment will be described. The product conveying apparatus 200 of 2nd Embodiment has two wires. In this respect, it is different from the first embodiment. Therefore, it demonstrates centering on this different point, and abbreviate | omits description about the overlapping point.

1. Configuration of Product Conveying Device The configuration of the product conveying device 200 of this embodiment is shown in FIG. As shown in FIG. 9, the product transport device 200 includes a camera 210, rails 220 and 230, a first wire 240, a second wire 250, a product holding unit 270, and a control unit 290. doing. Here, the camera 210, the rails 220 and 230, the product holding unit 270, and the control unit 290 are substantially the same as those in the first embodiment.
The rail 230 is an actuator.

2. Wire 2-1. Wire Arrangement As shown in FIG. 9, the product conveyance device 200 has two wires. By combining the rail 220 and the rail 230, the first wire 240 and the second wire 250 can move in the X-axis direction and the Y-axis direction. Further, both the first wire 240 and the second wire 250 can be expanded and contracted.

  The 1st wire 240 and the 2nd wire 250 are arranged along with direction DP of the conveyance direction of product P1. Therefore, when the product P1 is transported to the storage box B1, the first wire 240 is positioned on the front side in the traveling direction, and the second wire 250 is positioned on the rear side in the traveling direction. On the contrary, after the product P1 has been transported to the storage box B1, when the product holding part 270 is moved to the position on the belt conveyor C1, the second wire 250 is positioned on the front side in the traveling direction. One wire 240 is positioned on the rear side in the traveling direction.

  That is, one of the first wire 240 and the second wire 250 is arranged at a position on the front side in the traveling direction in the conveyance direction of the product P1, and the first wire 240 and the second wire 250 are The other is arranged at a position on the rear side in the traveling direction in the conveyance direction of the product P1.

2-2. Here, a case where the product P1 is moved from the belt conveyor C1 toward the storage box B1 (in the case of forward movement) will be described. When moving forward, as described above, the first wire 240 is positioned on the front side in the traveling direction. When the product P1 reaches the location of the storage box B1, the lateral movement of the product P1 stops. At this time, the product P1 tends to move forward due to inertia. For this reason, a swing occurs in the suspended product P1.

  Therefore, when this advancement is stopped, the second wire 250 is slightly pulled. As a result, the product P1 can be stopped from moving forward due to inertia. That is, shaking can be suppressed. At this time, the second wire 250 may be moved upward or backward in the traveling direction.

2-3. In the case of retreating Here, the case where the product P1 is moved from the storage box B1 toward the belt conveyor C1 (in the case of retreating) will be described. In this case, it is only necessary to pull the rear wire as in the case of forward movement. In the case of the backward movement, the first wire 240 is located at the rear in the traveling direction. Therefore, the first wire 240 may be moved upward or backward in the traveling direction.

3. Rotating the product When rotating the product, do as follows. The product P1 is suspended only by the first wire 240, and the second wire 250 is separated from the product P1. Alternatively, the product P1 is suspended only by the second wire 250, and the first wire 240 is separated from the product P1. In other words, the product P1 is indicated by either the first wire 240 or the second wire 250.

4). Modifications Also in this embodiment, all the modifications described in the first embodiment can be applied. For this reason, only modifications specific to this embodiment will be described.

  In the present embodiment, the product conveyance device 200 has two wires. These wires may be the same or different. Also, one of the two may be mainly used, and the other one may be used as an auxiliary.

5. Summary As described in detail above, the product conveyance device 200 of the present embodiment includes the first wire 240 and the second wire 250 that can be moved in any of the X-axis direction, the Y-axis direction, and the Z-axis direction, and the product holding. Part 270. Further, since the work is performed in pairs with the worker, the product P1 can be transported in correspondence with various products having a complicated three-dimensional shape. Since the basic operation of the product holding unit 270 is programmed by teaching, a fast and smooth operation is possible.

  This embodiment is merely an example. Therefore, naturally, various improvements and modifications can be made without departing from the scope of the invention. The product holding part does not depend on the illustrated shape or the like. Any other structure may be used as long as the product P1 can be held and released.

DESCRIPTION OF SYMBOLS 100, 200 ... Product conveyance apparatus 110, 210 ... Camera 120, 130, 220, 230 ... Rail 140 ... Wire 160 ... Wire adjustment part 170, 270 ... Product holding part 190, 290 ... Control unit 240 ... 1st wire 250 ... 2nd wire B1 ... storage box C1 ... belt conveyor P1 ... product H ... worker

Claims (11)

In a product transport device that transports products,
A product holding unit for holding and releasing the product;
A support part for supporting the product holding part;
A rail for guiding the movement of the support,
A support length adjusting unit for adjusting the length of the support unit from the product holding unit to the rail;
A support part moving part for moving the support part along the rail;
A position information acquisition unit that acquires the position information of the worker and the position information of the product;
A control unit that controls movement of at least one of the support unit moving unit and the support unit length adjusting unit by feeding back the position information of the operator and the position information of the product acquired by the position information acquisition unit;
A product conveying device characterized by comprising: The product conveying device according to claim 1,
A storage unit for storing in advance the conveyance path of the product holding unit;
The controller is
A product transporting apparatus that controls at least one of the movement of the support unit moving unit and the support unit length adjusting unit based on a transport path of the product holding unit. In the product conveyance device according to claim 2,
The storage unit
A product conveying apparatus for storing the conveying path and the conveying speed by teaching. In the product conveyance device according to claim 3,
The controller is
At least one of the transport path and the transport speed;
At least one of position information and speed information of the operator's hand;
A product carrying device that performs feedback control based on the difference between the two. In the product conveyance device according to claim 4,
The controller is
At least one of the transport path and the transport speed;
At least one of position information and speed information of the operator's hand;
The product conveying apparatus is characterized in that the movement of at least one of the support part moving part and the support part length adjusting part is controlled so that the difference between the two is not greater than a predetermined threshold value. In the product conveyance device according to any one of claims 1 to 5,
The support part is
A first support member and a second support member;
One of the first support member and the second support member is
It is arranged on the front side in the traveling direction in the conveying direction of the product,
The other of the first support member and the second support member is
A product transporting device, wherein the product transporting device is disposed on the rear side in the traveling direction in the product transporting direction. In the product conveyance device according to any one of claims 1 to 6,
The position information acquisition unit
When the position of the operator's hand and the position of the product overlap, hold the product,
A product transporting device that releases the holding of the product when the position of the operator's hand and the position of the product do not overlap. In the product conveyance device according to any one of claims 1 to 6,
A work signal receiving unit for receiving a work signal instructed by an operator;
The product holding part is
A product carrying device that releases the holding of the product when a product holding release signal is received by the work signal receiving unit. In the product conveyance device according to any one of claims 1 to 8,
The support part is
A product conveying device comprising a wire. In the product conveyance device according to any one of claims 1 to 8,
The support part is
A product conveying device having a telescopic rod. In the product transport method for transporting products from one of the factory line and the storage box to the other,
A method of conveying the product while holding the product by a product holding unit of an operator and a product conveying device;
During the transport,
The product holding part,
A product transporting method, wherein the product is transported by feeding back the detected movement of the operator's hand while moving along a predetermined transport path.

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