JP2018126807A - Workpiece transport device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece transport device which can automate transportation of workpieces without occupying a ground space.SOLUTION: A workpiece transport device 10 is used to transport workpieces W and includes: a cargo gear 20 which is attached to guide rails 3 provided at a ceiling so as to travel horizontally and can take up and down a rope member 26; a holding device 30 which is attached to a lower end part of the rope member 26 and can hold the workpieces W; and a robot device 40 having a base part 45 which is attached to the guide rails 3 so as to self-advance horizontally and is connected to the cargo gear 20, and a robot arm part 47 which extends from the base part 45, is connected to the holding device 30, and can move upward and downward with the holding device 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a workpiece transfer apparatus that can automatically transfer a workpiece.

  In the vehicle assembly line, the parts to be assembled stored on the parts pallet are taken out and conveyed to the assembly base. For heavy parts such as engine parts, transmission parts, and suspension parts (suspension members, etc.), the parts are transported using a hoist as described in Patent Document 1 below, for example. When this hoist is used, the operator operates the hoist so that the parts suspended on the traction means are transported from the parts pallet to the assembly base while being lifted by the lifting device.

JP-A-6-206697

The above-described transport work is a work performed by the operator's own operation, and is likely to cause human error such as a component hanging error or an erroneous operation. Therefore, it is preferable to employ equipment that can automate the parts transport operation using a general-purpose robot that takes the place of humans. As equipment for this, for example, a general-purpose large robot capable of lifting heavy parts and having a large portable mass, a traveling device capable of moving the large robot over a wide range on a floor on which a plurality of component pallets are placed, It is possible to employ equipment equipped with.
According to this facility, a series of operations for taking out parts from the parts pallet and transporting them to the assembly base can be automated by the large robot.

  However, in the case of the above equipment, a general-purpose large-sized robot is used, and a traveling device for the large-sized robot is installed as a fixed object on the floor, so that the installation area of the facility occupies the ground space is large. For this reason, there may be a problem that it is difficult to ensure a work space for an operator to enter the facility and perform work in an unsteady state such as when a device is broken or inspected. In addition, since only the parts within the movable range of the robot in contact with the traveling device can be transported, there is a great restriction on the parts arrangement.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a work transfer device that can automate the transfer of a work without occupying a ground space.

One embodiment of the present invention provides:
A workpiece transfer device for transferring a workpiece,
A loading and unloading device that is attached to a guide rail provided on the ceiling so as to be able to run horizontally and capable of winding and lowering a rope-shaped member;
A holding device attached to the rope-like member so as to hold the workpiece;
A base part attached to the guide rail so as to be capable of self-propelling and connected to the cargo handling apparatus; a robot arm part extending from the base part and connected to the holding apparatus and movable up and down with the holding apparatus; A robot apparatus having
It is in a work conveyance device provided with.

In the workpiece transfer device described above, the cargo handling device can lift the workpiece by hoisting the rope-like member while the workpiece held by the holding device is suspended by the rope-like member. The workpiece can be lowered by lowering. This cargo handling apparatus is responsible for a substantial cargo handling operation for the workpiece, and can move the workpiece in the vertical direction.
On the other hand, since the base unit is connected to the cargo handling device, the robot device can travel in the horizontal direction integrally with the cargo handling device while pulling the cargo handling device when the guide rail is self-propelled. This robot apparatus plays a role of transporting a cargo handling apparatus that cannot be self-propelled, and can move a workpiece suspended by the cargo handling apparatus in a horizontal direction. At this time, since the robot arm part of the robot apparatus is connected to the holding apparatus and can move up and down together with the holding apparatus, it does not disturb the winding and lowering of the rope-like member in the cargo handling apparatus.
Therefore, the workpiece transfer device is effective for holding the workpiece and transferring it automatically and smoothly in the vertical direction and the horizontal direction.
In addition, since the cargo handling device and robot device that make up the work transfer device are both attached to the guide rail provided on the ceiling, the operator can install the equipment at the time of unsteady conditions such as equipment failure or inspection. It is possible to secure a working space for entering the work.

  As described above, according to the above-described workpiece transfer device, workpiece transfer can be automated without occupying the ground space.

The top view which shows the outline | summary of the workpiece conveyance apparatus of this embodiment. The side view of the workpiece conveyance apparatus in FIG. The flowchart at the time of the automatic conveyance mode by the workpiece conveyance apparatus of FIG. The side view which shows a mode when the workpiece conveyance apparatus of FIG. 2 is performing the 3rd step in FIG. The side view which shows a mode when the workpiece conveyance apparatus of FIG. 2 is performing the 4th step in FIG. The side view which shows a mode when the workpiece conveyance apparatus of FIG. 2 is performing the 5th step in FIG. The side view which shows a mode when the workpiece conveyance apparatus of FIG. 2 is performing the 6th step in FIG. The side view which shows a mode when the workpiece conveyance apparatus of FIG. 2 is performing the 7th step in FIG. The side view which shows the mode of the operation | work at the time of the manual conveyance mode of the workpiece conveyance apparatus of FIG.

  Preferred embodiments of the above aspects are described below.

In the workpiece transfer device, the holding device is configured to be rotatable about a rotation shaft with respect to a bracket attached to a lower end portion of the rope-shaped member, and the robot device includes the holding device. It is preferable that the robot arm unit is driven so as to rotate about the rotation axis.
According to this workpiece transfer device, the posture of the workpiece held by the holding device can be easily changed by rotating the holding device using the driving force of the robot arm portion of the robot device.

In the workpiece conveying device, it is preferable that the holding device is configured to be rotatable along a vertical plane around the rotation axis with respect to the bracket.
According to this workpiece conveyance device, the posture change of the workpiece held by the holding device can be performed in the direction along the vertical plane.

In the workpiece transfer device, the holding device is between a first member and a holding position where the workpiece is sandwiched between the first member and a holding release position which is farther from the first member than the holding position. It is preferable to include a second member that can be slid by the actuator, and an actuator that drives the second member between the holding position and the holding release position.
According to this workpiece conveyance device, the workpiece can be reliably held by the operation of sandwiching the workpiece by the two members of the holding device. Further, by making the slide amount of the second member relative to the first member variable, it is possible to support holding workpieces having different dimensions.

In the workpiece transfer device, the cargo handling device includes an electric motor that winds and unwinds the rope-like member in a state in which a torque acting on the rope-like member is constant, and the robot device includes the rope-like member. It is preferable that the arm tip of the robot arm unit is controlled to move up and down at a speed synchronized with the rotational speed of the electric motor related to the winding and lowering of the member.
According to this work conveyance device, the electric motor of the material handling device exhibits a balance function that can hold the holding device holding the workpiece in a balance state close to zero gravity. At this time, the arm tip of the robot arm moves in synchronization with the vertical movement of the holding device by synchronizing the vertical movement speed of the arm tip of the robot arm with the rotational speed of the electric motor. Moves up and down together. For this reason, since the load received from the holding device is kept small and the robot arm unit does not receive an excessive load, the loadable mass is small.

In the workpiece transfer device, the robot device is detachably connected to the cargo handling device at the base portion, and is detachably connected to the holding device at the robot arm portion. It is preferable to provide a manual operation switch capable of operating the cargo handling device by manual operation in a state separated from both the device and the holding device.
According to this work transfer device, a manual backup operation by an operator can be performed by separating the robot device from both the cargo handling device and the holding device in an unsteady state such as when the robot device fails. . That is, the rope-like member can be wound and lowered in the cargo handling device by the operator operating the manual operation switch. In addition, the operation of running the cargo handling device can be performed by an operation in which an operator holds the holding device with fingers and pulls it horizontally.

In the workpiece transfer device, it is preferable that the robot arm unit of the robot device is constituted by a vertical articulated robot having a plurality of joint shafts each incorporating an electric motor and operating in a vertical direction. .
According to this workpiece transfer device, a robot device can be constructed by a highly versatile vertical articulated robot.

(Embodiment)
Hereinafter, a workpiece transfer device used in a vehicle assembly line will be described with reference to the drawings.

  In the drawings for explaining the work transfer device, unless otherwise specified, the first direction that is the front-rear direction of the work transfer device is indicated by an arrow X, and the second direction that is the left-right direction of the work transfer device is indicated by an arrow Y. The third direction, which is the vertical direction, is indicated by an arrow Z.

  As shown in FIG. 1, a workpiece conveyance device 10 (hereinafter simply referred to as “conveyance device 10”) of the present embodiment assembles a workpiece W, which is a vehicle component to be assembled to a vehicle body, from a component pallet 1. It is for conveying to the stand 2 automatically. The conveying device 10 is used for a plurality of component pallets 1 prepared for each type of workpiece W and juxtaposed on the floor F in the first direction X and the second direction Y.

  The transport device 10 is configured to be attached to two guide rails 3 and 3 provided on the ceiling. The two guide rails 3 and 3 are long horizontal rails that are spaced apart from each other in the second direction Y and extend in the first direction X between the component pallet 1 and the assembly base 2. It is configured.

  Examples of the workpiece W include heavy parts such as an engine and a transmission, suspension parts (suspension members and the like), a ceiling module, an instrument panel module, a seat slide rail, a vehicle seat, an HV battery, and the like.

  The transport device 10 includes a cargo handling device 20, a holding device 30, a robot device 40, and a control device 50 for controlling each of the cargo handling device 20, the holding device 30, and the robot device 40.

  As shown in FIG. 2, the cargo handling device 20 is a suspended device attached to the guide rail 3 so as to be suspended. The cargo handling device 20 is configured to be capable of winding and lowering the rope-like member 26 for suspending the workpiece W using an electric motor. The “electric balancer”, “motor block”, “ Also called “hoist”. The cargo handling device 20 includes a traveling unit 21 and a suspended portion 25.

  The traveling unit 21 of the cargo handling device 20 is attached to the guide rail 3 so as to be able to travel horizontally. The traveling unit 21 includes a garter 22, a garter rail 23, and a slide member 24. The traveling unit 21 is not equipped with a driving means for self-propulsion such as a traveling motor.

  The garter 22 is attached to the guide rail 3 so as to be slidable in the first direction X. The garter rail 23 is fixed to the two left and right garters 22 and 22 and extends in a long shape in the second direction Y. The slide member 24 is supported by the garter rail 23 so as to be slidable in the second direction Y.

  The hanging portion 25 of the cargo handling device 20 is connected to the lower portion of the slide member 24 of the traveling unit 21 via a hook. The hanging portion 25 is configured to wind and lower the rope-shaped member 26. The rope-like member 26 is configured as a long string-like member having flexibility and strength capable of suspending the workpiece W. Typically, the rope-like member 26 is a member such as a metal wire or chain.

  Specifically, the hanging portion 25 includes a cylindrical drum 27 on which a rope-like member 26 can be wound and lowered, an electric motor 28 for rotationally driving the drum 27, and a rope-like shape. A torque sensor 29 for detecting torque acting on the member 26 is housed.

  The electric motor 28 is electrically connected to the control device 50 together with the torque sensor 29. The electric motor 28 is configured to be controlled by a control signal from the control device 50 while detecting its rotational position and rotational speed and outputting it to the control device 50. The torque sensor 29 is configured to output information about the detected torque to the control device 50.

  Here, the electric motor 28 has a balance function that can hold the suspended object in a balanced state close to zero gravity when the suspended object (in this embodiment, the workpiece W and the holding device 30) is suspended from the rope-shaped member 26. Have.

  The term “balanced state” as used herein means that the operator can lightly move up and down by placing a hand on the lifted object, and the lifted object can be stopped at that position even if the hand is released at the raised or lowered position. State.

  In the present embodiment, a servo motor (AC servo motor) capable of torque feedback control is employed as the electric motor 28 in order to realize the balance function. The electric motor 28 can drive the drum 27 up and down by rotating the drum 27 based on the torque detected by the torque sensor 29 in a state where the torque is substantially constant. In this case, the cargo handling apparatus 20 including the electric motor 28 is also referred to as a “servo hoist”.

  The holding device 30 is attached to the rope-like member 26 so as to hold the workpiece W. Specifically, the holding device 30 is suspended from a bracket 26b attached to the lower end 26a opposite to the end wound on the drum 27 of the rope-like member 26. In this case, the hanging portion 25 of the cargo handling device 20 requires a portable mass capable of hanging and holding the holding device 30 together with the workpiece W.

  The holding device 30 is configured to be rotatable along a vertical plane with respect to the bracket 26b attached to the lower end portion 26a of the rope-like member 26. In order to enable this configuration, the holding device 30 includes a first member 31 that is rotatably connected to a rotation shaft 30a that extends in the horizontal direction in the bracket 26b. The first member 31 is connected to the robot arm portion 47 of the robot apparatus 40 by the connecting portion 12, and can be rotated about the rotation shaft 30 a by the driving force of the robot arm portion 47.

  The holding device 30 uses pinching, which is one of the holding forms of the workpiece W. In order to realize the function of sandwiching the workpiece W, the holding device 30 includes a second member 32 and an actuator 33 in addition to the first member 31 described above.

  The second member 32 has a holding position (holding position P1 indicated by a solid line in FIG. 4) between which the workpiece W is sandwiched between the first member 31 and the holding release that is further away from the first member 31 than this holding position. It is configured to be slidable with respect to a position (holding release position P2 indicated by a two-dot chain line in FIG. 4).

  The actuator 33 is electrically connected to the control device 50 and has a function of driving the second member 32 between the holding position and the holding release position based on a control signal from the control device 50. As the actuator 33, typically, driving means such as an electric motor or an air cylinder is used.

  When the second member 32 is slid to the holding position so as to approach the first member 31 by the control of the actuator 33 by the control device 50, the workpiece W can be held between the first member 31 and the second member 32 and held. . On the other hand, when the second member 32 slides from the holding position to the holding release position so as to be separated from the first member 31 by the control of the actuator 33 by the control device 50, the holding of the workpiece W can be released.

  The robot device 40 is a suspension type device that is attached to the guide rail 3 so as to be suspended, similarly to the cargo handling device 20. The robot apparatus 40 includes a traveling unit 41, a base unit 45, a camera 46, and a robot arm unit 47.

  The traveling unit 41 of the robot apparatus 40 is attached to the guide rail 3 so as to be capable of self-propelling horizontally in order to pull the cargo handling apparatus 20. The traveling unit 41 includes two garters 42, 42, two garter rails 43, 43, two slide members 44, 44, and two traveling motors 42a, 44a.

  The two garters 42 and 42 are slidably attached to the guide rail 3 while being separated from each other in the first direction X. Each of the two garter rails 43 and 43 is fixed to the corresponding two left and right garters 42 and 42 and extends in the second direction Y in a state of being spaced apart from each other in parallel with the first direction X. doing. Each slide member 44 is supported by the corresponding garter rail 43 so as to be slidable in the second direction Y.

  The traveling motor 42 a is configured as a driving unit that can cause the two garters 42 and 42 to travel in the first direction X along the guide rail 3. The traveling motor 44a is configured as a driving unit that can cause the two slide members 44 and 44 to travel in a second direction Y orthogonal to the first direction X. These two traveling motors 42 a and 44 a are both electrically connected to the control device 50 and are configured to be controlled by a control signal from the control device 50.

  The base unit 45 of the robot apparatus 40 is fixed to the two slide members 44 and 44. For this reason, the base portion 45 is configured to be able to travel in the first direction X by the travel motor 42a and to travel in the second direction Y by the travel motor 44a.

  In the base portion 45, the support plate 45 a that supports the two slide members 44, 44 is detachably connected to the case 25 a of the hanging portion 25 of the cargo handling device 20 by the connecting portion 11. That is, the base unit 45 of the robot apparatus 40 is detachably connected to the cargo handling apparatus 20.

  For this reason, at the time of the steady operation of the conveying apparatus 10, the cargo handling apparatus 20 and the robot apparatus 40 are mutually connected by the connection part 11, and are integrated. At this time, the cargo handling apparatus 20 can be moved integrally with the robot apparatus 40 in the first direction X or the second direction Y by being pulled by the robot apparatus 40 as a driving means.

  A camera 46 and a robot arm unit 47 of the robot apparatus 40 are attached to the lower part of the base unit 45. Therefore, the camera 46 and the robot arm unit 47 can move integrally with the two slide members 43, 43 in the second direction Y, and the two garters 42, 42 via the two slide units 44, 44. And can move integrally in the first direction X.

  The camera 46 is an imaging means for image recognition, is arranged toward the holding device 30, and is electrically connected to the control device 50. The camera 46 is configured to take an image of the state when the holding device 30 holds the workpiece W in accordance with a control signal from the control device 50 and transmit the captured image to the control device 50.

  The robot arm portion 47 is configured to extend downward from the base portion 45 and have its arm tip 47 a coupled to the holding device 30. Specifically, the arm tip 47 a of the robot arm portion 47 is connected to the position of the first member 31 away from the rotation shaft 30 a by the connecting portion 12. For this reason, during the steady operation of the transfer device 10, the robot arm portion 47 and the first member 31 of the holding device 30 are connected and integrated by the connecting portion 12. For this reason, the robot arm 47 can stabilize the vertical movement of the holding device 30.

  At this time, the position of the arm tip 47a of the robot arm unit 47 is controlled by the control device 50.

  Specifically, when the holding device 30 is held in a state close to weightlessness by the balance function by the electric motor 28 and moves up and down in the third direction Z in this state, the arm tip 47a is synchronized with the holding device 30. The robot arm unit 47 is controlled so as to move. This control is achieved by moving the arm tip 47a of the robot arm 47 up and down in the third direction Z at a speed synchronized with the rotational speed of the electric motor 28 related to winding and lowering of the rope-like member 26.

  On the other hand, when the holding device 30 is rotated in a state where the holding device 30 is not moved up and down in the third direction Z, the arm tip 47a rotates the first member 31 without synchronizing with the holding device 30. The robot arm unit 47 is controlled to press in the moving direction.

  The robot arm portion 47 has six joint axes A1, A2, A3, A4, A5, A6, operates in the vertical direction, and the transportable mass thereof is the transportable mass of the suspended portion 25 of the cargo handling device 20. It is composed of a small vertical articulated robot.

  In each of the six joint axes in the robot arm unit 47, an electric motor 48 as an actuator for rotating and driving each joint axis and a torque sensor 49 for detecting torque acting on each joint axis are incorporated. ing.

  The robot arm unit 47 can also be configured by a vertical articulated robot having seven or more joint axes or five or less joint axes.

  The electric motor 48 is electrically connected to the control device 50 together with the torque sensor 49. The electric motor 48 is configured to be controlled by a control signal from the control device 50 while detecting its rotational position and rotational speed and outputting it to the control device 50. The torque sensor 49 is configured to output information regarding the detected torque to the control device 50.

  In this embodiment, a servo motor (AC servo motor) capable of torque feedback control is employed as the electric motor 48. The electric motor 48 can move based on the torque detected by the torque sensor 49 so that the torque acting on the joint shaft is substantially constant. As a result, control that allows the arm tip 47a of the robot arm 47 to move flexibly, so-called “compliance control” is possible. This compliance control is a known control, and a specific description thereof is omitted here.

  As described above, the robot device 40 is detachably connected to the cargo handling device 20 by the connecting portion 11 in the base portion 45, and is detachably connected to the holding device 30 by the connecting portion 12 in the robot arm portion 47. That is, the robot device 40 is connected to the cargo handling device 20 at two locations of the two connecting portions 11 and 12.

  The two connecting portions 11 and 12 may be configured by connecting members that can be manually attached and detached by an operator, or automatically by an actuator that operates in response to a control signal from the control device 50. It may be configured to perform connection and disconnection.

  Further, the number of the connecting portions 11 related to the connection between the robot apparatus 40 and the cargo handling apparatus 20 can be set to one or a plurality. Similarly, the number of connecting portions 12 related to the connection between the robot apparatus 40 and the holding apparatus 30 can be set to one or more.

  The control device 50 is configured by a known electronic control unit, and performs arithmetic processing based on a memory that stores information related to the control of the transport device 1, information stored in the memory, and information detected by sensors. An arithmetic unit (CPU) to perform is provided.

  The memory of the control device 50 includes information on the vehicle type in the vehicle assembly line, information on the type of workpiece W required for each vehicle type, position information of the parts pallet 1 and the assembly table 2 storing each workpiece W, and It is preferable that access route information and the like are taught and stored in advance.

  A manual operation switch 51 is electrically connected to the control device 50. The manual operation switch 51 is a switch that can operate the cargo handling device 20 independently by manual operation in a state where the robot device 40 is separated from both the cargo handling device 20 and the holding device 30. As the manual operation switch 51, a push button switch, a toggle switch, a rocker switch, a rotary switch, a touch switch, or the like can be appropriately used.

  When the operator operates the manual operation switch 51, the electric motor 28 of the cargo handling device 20 can be operated to wind and lower the rope-shaped member 26. Further, when the operator operates the manual operation switch 51, the actuator 33 of the holding device 30 can be operated to cause the second member 32 to slide with respect to the first member 31.

  As described above, both the cargo handling device 20 and the robot device 40 of the transport device 10 are attached to the guide rail 3 provided on the ceiling by being suspended. Thereby, a work space S is formed between the transfer device 10 and the floor F. For this reason, this work space S can be used for an operator to enter the facility and perform work in an unsteady state such as when a device is broken or inspected.

  Next, an example of operation | movement of said conveying apparatus 1 is demonstrated, referring FIGS. 3-9. The transport device 1 has, as its operation mode, an automatic transport mode that is automatically controlled by the control device 50 and a manual transport mode that is manually executed by an operator.

(Automatic transfer mode)
In the automatic conveyance mode, steps S101 to S108 in FIG. 3 are executed. Note that one or more steps may be added to these steps as necessary.

  The first step S101 is a step of connecting the cargo handling device 20 and the robot device 40 in the transport device 1 or a step of detecting this connected state. According to the first step S101, as shown in FIG. 4, the cargo handling device 20 and the robot device 40 are set in a state of being connected by the two connecting portions 11 and 12.

The second step S102 is a step of moving the cargo handling device 20 and the robot device 40 in the transport device 1 to the parts pallet 1 where the desired workpiece W is stored after the first step S101. According to the second step S102, as shown in FIG. 4, the two travel directions of the robot apparatus 40 are based on the position information and access path information of the parts pallet 1 stored in the memory of the control apparatus 50. The motor devices 42a and 44a are controlled.
Thereby, the robot apparatus 40 automatically travels to the position of the parts pallet 1. The cargo handling device 20 connected to the robot device 40 automatically travels to the position of the parts pallet 1 together with the robot device 40.

  3rd step S103 is a step which takes out the workpiece | work W from the components pallet 1 by cooperation of the cargo handling apparatus 20 and the robot apparatus 40 after 2nd step S102. According to the third step S103, as shown in FIG. 4, the cargo handling is performed so that the holding device 30 actually reaches the desired workpiece W while photographing both the workpiece W and the holding device 30 with the camera 46. The apparatus 20 and the robot apparatus 40 are controlled. Thereafter, the holding device 30 is controlled to hold the workpiece W.

  At this time, the position adjustment of the holding device 30 in the third direction Z is performed by rotating the electric motor 28 of the cargo handling device 20 in the winding direction or the lowering direction of the rope-shaped member 26 and at the same time, It is executed by raising or lowering the tip 47a. As a result, the holding device 30 reaches the desired workpiece W.

  In addition, the holding device 30 holds the workpiece W by the second member 32 being slid from the holding release position P2 to the holding position P1 with respect to the first member 31 by the actuator 33, and the first member 31 and the second member 32. It is executed by sandwiching the work W between the two.

  The fourth step S104 is a step for lifting the workpiece W taken out in the third step S103. According to the fourth step S104, as shown in FIG. 5, the electric motor 28 of the cargo handling device 20 is rotated in the winding direction of the rope-like member 26, and the arm tip 47a of the robot arm portion 47 of the robot device 40 is moved. Performed by raising. Thereby, the workpiece | work W is lifted to predetermined height with the attitude | position when it was stored on the components pallet 1. FIG.

  Here, the electric motor 28 rotates in the winding direction of the rope-shaped member 26 while maintaining the workpiece W and the holding device 30 in a balance state close to zero gravity by the balance function described above. That is, when an upward load is applied from the robot arm 47 to the holding device 30 in a state close to zero gravity, the electric motor 28 rotates so that the holding device 30 moves upward. At this time, the robot arm unit 47 can control the raising operation of the holding device 30.

  The robot arm unit 47 is controlled so that the arm tip 47a is raised at a speed synchronized with the rotational speed of the electric motor 28 related to the winding of the rope-like member 26. As a result, the arm tip 47 a of the robot arm portion 47 moves in synchronization with the raising operation of the holding device 30 in the third direction Z and rises together with the holding device 30.

  Further, the robot arm portion 47 is controlled so that the arm tip 47a moves flexibly in accordance with the above-described compliance control when it is lifted together with the holding device 30. For this reason, it is possible to suppress a deviation in synchronization between the rotational speed of the electric motor 28 and the speed at which the arm tip 47a of the robot arm 47 rises.

  5th step S105 is a step which conveys the workpiece | work W suspended in 4th step S104 to the assembly stand 2. FIG. According to the fifth step S105, as shown in FIG. 6, two runs of the robot apparatus 40 are performed based on the position information and access route information of the assembly base 2 stored in the memory of the control apparatus 50. Motor devices 42a and 44a are controlled. As a result, the robot apparatus 40 automatically travels to the position of the assembly base 2. Further, the cargo handling device 20 connected to the robot device 40 automatically travels to the position of the assembly base 2 together with the robot device 40.

  The sixth step S106 is a step for changing the posture of the workpiece W conveyed in the fifth step S105. According to the sixth step S106, as shown in FIG. 7, the arm tip 47a of the robot arm unit 47 has the holding device 30 set in advance around the rotation shaft 30a for changing the posture of the workpiece W. Move to rotate at an angle. In the present embodiment, this angle is set to approximately 90 degrees. Thereby, the workpiece | work W is changed into the attitude | position suitable for mounting in the assembly stand 2. FIG.

  In this sixth step S106, the rotation angle of the holding device 30 is a constant value. Instead, the robot arm unit is configured so that this angle is variable according to the load of the workpiece W. The positions of the 47 arm tips 47a may be controlled.

  The seventh step S107 is a step of suspending the workpiece W, whose posture has been changed in the sixth step S106, on the assembly base 2. According to the seventh step S107, as shown in FIG. 8, while photographing the mounting surface 2a of the mounting base 2 by the camera 46, the work W actually reaches the mounting surface 2a. The cargo handling device 20 and the robot device 40 are controlled. Thereafter, the holding device 30 is controlled to release the holding of the workpiece W.

  The position adjustment of the holding device 30 in the third direction Z is performed by rotating the electric motor 28 of the cargo handling device 20 in the direction of lowering the rope-like member 26 and lowering the arm tip 47a of the robot arm portion 47 of the robot device 40. Executed by. Thereby, the workpiece | work W can be suspended on the mounting surface 2a of the mounting base 2. FIG.

  Here, the electric motor 28 rotates in the lowering direction of the rope-shaped member 26 while maintaining the workpiece W and the holding device 30 in a balance state close to zero gravity by the balance function described above. In other words, when a downward load is applied from the robot arm 47 to the holding device 30 in a state close to zero gravity, the electric motor 28 rotates so that the holding device 30 moves downward. At this time, the robot arm unit 47 can control the lowering operation of the holding device 30.

  The robot arm unit 47 is controlled so that the arm tip 47a descends at a speed synchronized with the rotational speed of the electric motor 28 related to the lowering of the rope-like member 26. As a result, the arm tip 47 a of the robot arm portion 47 moves in synchronization with the lowering operation of the holding device 30 in the third direction Z and moves down together with the holding device 30.

  The robot arm 47 is controlled so that the arm tip 47a moves flexibly according to the compliance control described above when the robot arm 47 is lowered together with the holding device 30. For this reason, it is possible to suppress a deviation in synchronization between the rotational speed of the electric motor 28 and the speed at which the arm tip 47a of the robot arm 47 descends.

  On the other hand, when the work W is released by the holding device 30, the second member 32 slides from the holding position P <b> 1 to the holding release position P <b> 2 with respect to the first member 31 by the actuator 33, and the first member 31 and the second member are released. This is done by widening the interval between 32.

  The eighth step S108 is a step of returning the transport device 1 to the initial position after the seventh step S107. According to the eighth step S108, after the cargo handling device 20 and the robot device 40 are controlled so that the holding device 30 returns to the state before the rotation and rises, the cargo handling device 20 and the robot device 40 are integrated. It is conveyed to the initial position. Thereby, the conveyance apparatus 1 can prepare for conveyance of the following workpiece | work W. FIG.

(Manual transfer mode)
The manual conveyance mode is a backup mode in which the cargo handling apparatus 20 independently conveys the workpiece W when the robot apparatus 40 of the conveyance apparatus 1 malfunctions. The manual transfer mode is executed mainly by the operator.

  As shown in FIG. 9, in this manual transport mode, the connection by the two connecting portions 11 and 12 is released, and the cargo handling device 20 and the robot device 40 are separated.

  At this time, the cargo handling device 20 loses the driving means for horizontal traveling due to separation from the base portion 45 of the robot device 40. For this reason, instead of the robot device 40, the operator can move the loading device 20 in the first direction X or the second direction Y by directly holding and pulling the holding device 30 of the loading device 20 with fingers. .

  Moreover, the cargo handling apparatus 20 loses the drive means for rotating the holding | maintenance apparatus 30 by isolation | separation with the robot arm part 47 of the robot apparatus 40. FIG. For this reason, instead of the robot arm portion 47 of the robot apparatus 40, an operator can directly hold the holding apparatus 30 with fingers and rotate the holding apparatus 30.

  In this manual transport mode, for the operation of hoisting or lowering the rope-like member 26 in the cargo handling device 20 and the operation of holding or releasing the work W in the holding device 30, the operator uses the manual operation switch 51 with his / her fingers. These operations can be executed by direct manipulation.

  According to said embodiment, the following effects are obtained.

  In the transport apparatus 1 described above, the cargo handling apparatus 20 can lift the work W by lifting the rope-shaped member 26 while the work W held by the holding apparatus 30 is suspended by the rope-shaped member 26. The work W can be lowered by lowering the rope-like member 26. This loading / unloading device 20 bears a substantial loading / unloading operation for the workpiece W, and can move the workpiece W in the vertical direction.

  On the other hand, since the base unit 45 is connected to the cargo handling device 20, the robot device 40 is integrated with the cargo handling device 20 in the horizontal direction while pulling the cargo handling device 20 when the guide rail 3 is self-propelled. Can run. The robot device 40 plays a role of transporting the cargo handling device 20 that cannot be self-propelled, and can move the workpiece W suspended by the cargo handling device 20 in the horizontal direction. At this time, the robot arm portion 47 of the robot device 40 is connected to the holding device 30 and can move up and down together with the holding device 30, so that the rope-like member 26 in the cargo handling device 20 is not disturbed.

  Therefore, the transport device 10 is effective for holding the workpiece W and automatically and smoothly transporting the workpiece W in the vertical direction and the horizontal direction.

  In addition, since both the cargo handling device 20 and the robot device 40 constituting the transport device 10 are attached to the guide rail 3 provided on the ceiling, during an unsteady state such as when a device fails or during inspection, A work space S for the worker to enter the facility and perform work can be secured.

  Therefore, according to said conveyance apparatus 10, it becomes possible to automate conveyance of the workpiece | work W, without occupying ground space.

According to the transport device 10 described above, the posture of the work W held by the holding device 30 can be easily changed by rotating the holding device 30 using the driving force of the robot arm unit 47 of the robot device 40. Can be done.
In particular, it is effective for changing the posture of the workpiece W held by the holding device 30 in the direction along the vertical plane.

  According to the transport device 10 described above, the workpiece can be reliably held by the operation of sandwiching the workpiece W by the two members 31 and 32 of the holding device 30. Further, by making the slide amount of the second member 32 relative to the first member 31 variable, it is possible to support holding workpieces W having different dimensions.

  According to said conveying apparatus 10, the electric motor 28 of the material handling apparatus 20 exhibits the balance function which can hold | maintain the holding | maintenance apparatus 30 holding the workpiece | work W in the balance state close | similar to weightlessness. At this time, the arm tip 47a of the robot arm unit 47 is synchronized with the vertical movement of the holding device 30 by synchronizing the vertical movement speed of the arm tip 47a of the robot arm unit 47 with the rotational speed of the electric motor 28. It moves and moves up and down together with the holding device 30. For this reason, since the load received from the holding device 30 is kept small and the robot arm unit 40 does not receive an excessive load, the loadable mass can be small.

  According to the transfer device 10 described above, the robot device 40 is separated from both the cargo handling device 20 and the holding device 30 in an unsteady state such as when the robot device 40 breaks down. It can be performed. That is, the operator can operate the manual operation switch 51 to wind and lower the rope-shaped member 26 in the cargo handling device 20. Further, the operation of causing the cargo handling device 20 to travel can be performed by an operation in which the operator holds the holding device 30 with his / her finger and pulls it horizontally.

  According to the transfer apparatus 10 described above, the robot apparatus 40 can be constructed using a highly versatile vertical articulated robot.

  According to the transport device 10 described above, when the cargo handling device 20 is an existing facility, the robot device 40 can be installed without significant modification of the equipment using the guide rail 3 to which the cargo handling device 20 is attached. .

  The present invention is not limited to the above-described exemplary embodiments, and various applications and modifications can be considered without departing from the object of the present invention. For example, the following embodiments applying the above-described embodiment can be implemented.

  In the above-described embodiment, the case where the holding device 30 has a function capable of changing the posture of the workpiece W is illustrated. However, when the workpiece W does not need to be changed in posture, this function of the holding device 30 is changed. It can be omitted.

  In the above-described embodiment, the case where the holding device 30 rotates along the vertical plane when changing the posture of the workpiece W has been illustrated, but the direction in which the holding device 30 rotates is not limited thereto. . For example, the holding device 30 may be configured to rotate along a horizontal plane when the posture of the workpiece W is changed.

  In the above-described embodiment, the case where the two members 31 and 32 sandwich the workpiece W is illustrated as the workpiece W holding mode by the holding device 30. However, the workpiece W holding mode is not limited to clamping, for example, Other holding forms such as holding the workpiece W by gripping, hooking, crawling, or adsorbing it can also be adopted.

  In the above embodiment, the robot device 40 is detachably connected to the cargo handling device 20 by the connecting portion 11 and detachably connected to the holding device 30 by the connecting portion 12, but instead, It is also possible to employ a structure in which the robot device 40 is connected to the cargo handling device 20 in an inseparable manner and is connected to the holding device 30 in an inseparable manner.

  In the above embodiment, the case where the robot apparatus 40 is configured using a vertical articulated robot has been described. However, any robot other than the vertical articulated robot can be used as long as the robot can move following the movement of the holding apparatus 30. A robot can also be employed.

  In the above embodiment, the conveyance device 1 for conveying the workpiece W as a vehicle part has been illustrated, but it is needless to say that the conveyance device 1 can also be used for conveyance of the workpiece W other than the vehicle component.

3 Guide rail 10 Work transfer device (transfer device)
DESCRIPTION OF SYMBOLS 20 Handling device 26 Rope-like member 26a Lower end part 26b Bracket 28 Electric motor 30 Holding device 30a Rotating shaft 31 1st member 32 2nd member 33 Actuator 40 Robot apparatus 45 Base part 47 Robot arm part 48 Electric motor 51 Manual operation switch P1 Holding position P2 Holding release position W Workpiece

Claims (7)

A workpiece transfer device for transferring a workpiece,
A loading and unloading device that is attached to a guide rail provided on the ceiling so as to be able to run horizontally and capable of winding and lowering a rope-shaped member;
A holding device attached to the rope-like member so as to hold the workpiece;
A base part attached to the guide rail so as to be capable of self-propelling and connected to the cargo handling apparatus; a robot arm part extending from the base part and connected to the holding apparatus and movable up and down with the holding apparatus; A robot apparatus having
A workpiece transfer device. The holding device is configured to be rotatable about a rotation axis with respect to a bracket attached to a lower end portion of the rope-shaped member,
The workpiece transfer device according to claim 1, wherein the robot device drives the robot arm unit so that the holding device rotates about the rotation axis.   The workpiece holding device according to claim 2, wherein the holding device is configured to be rotatable along a vertical plane with respect to the bracket about the rotation axis.   The holding device includes a first member and a second member that is slidable between a holding position in which the workpiece is sandwiched between the first member and a holding release position that is further away from the first member than the holding position. A workpiece transfer apparatus according to any one of claims 1 to 3, further comprising: an actuator that drives the second member between the holding position and the holding release position. The cargo handling apparatus includes an electric motor that winds and lowers the rope-shaped member in a state where the torque acting on the rope-shaped member is constant.
5. The robot device according to claim 1, wherein the robot device is controlled such that an arm tip of the robot arm portion moves up and down at a speed synchronized with a rotation speed of the electric motor related to winding and lowering of the rope-shaped member. The workpiece conveyance apparatus as described in any one item. The robot device is detachably connected to the cargo handling device at the base portion, and is detachably connected to the holding device at the robot arm portion,
The said robot apparatus is provided with the manual operation switch which can operate the said cargo handling apparatus by manual operation in the state isolate | separated from both the said cargo handling apparatus and the said holding | maintenance apparatus. Work transfer device.   The robot arm unit of the robot apparatus includes a plurality of joint axes each including an electric motor, and is configured by a vertical articulated robot that operates in a vertical direction. The workpiece transfer device described in 1.

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