JP2019063930A - Workpiece transport apparatus - Google Patents

Abstract

To reduce a load acting on a connection part between a transport unit and rails in constitution for supporting the transport unit by a plurality of rails juxtaposed in the vertical direction.SOLUTION: A transport loader 2 comprises: a cart 4 supported by upper rail and lower rail parallel to each other; a robot arm 5 supported by the cart 4, gripping a workpiece and transferring the workpiece between work equipment and itself; and a control unit 8 supported by the cart 4 and controlling operation of the robot arm 5. The robot arm 5 is arranged in a position where it overlaps the upper rail each other when viewed from above, the position being located above the upper rail. The control unit 8 is arranged in a position where it overlap at least one of the upper-lower rails each other in the vertical direction on the opposite side of the workpiece equipment with respect to the upper-lower rails.SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to a work transfer apparatus that transfers a work between a plurality of work facilities.

  Conventionally, a work transfer apparatus is provided which sets a work in each work facility separately from the work equipment such as a machine tool or inspection apparatus that constitutes a production line, and transports the finished work to the next work facility. Production systems are known which sequentially execute a series of work processes. For example, Patent Document 1 includes a traveling rail laid along a plurality of machine tools, and a double-arm robot having a robot arm having a SCARA structure, and the double-arm robot is self-propelled on the traveling rail and the machine tool The configuration for transferring work between them is described. In this configuration, the dual arm robot is disposed above the traveling rail laid on the floor, and the traveling rail supports the weight of the dual arm robot.

JP, 2005-46966, A

  By the way, in the device described in Patent Document 1, the traveling rail is configured to have a horizontal spread in the cross section perpendicular to the traveling direction of the dual arm robot, and when the operator approaches the machine tool for the purpose of maintenance etc. However, there was a concern that the running rails would become an obstacle and the workability would be reduced. Therefore, a configuration has been studied in which a plurality of rails are arranged in the vertical direction, and these rails support a transport unit such as a dual arm robot.

  However, in such a configuration, when viewed from the traveling direction of the transport unit, a moment of force is generated such that the transport unit falls down around the rail, and a large load acts on the connection portion between the transport unit and the rail. There was a thing. For example, the robot of the transport unit extends the arm toward the work equipment and tends to generate a large load in a state where the tip of the arm grips the work. If twisting of the rail or positional deviation of the transport unit occurs due to such a load, for example, there is a concern that the positioning accuracy of the workpiece in the work of passing the workpiece may be reduced.

  Then, this art aims at providing a work conveyance device which can reduce the load which acts on the connection part of a conveyance unit and a rail.

One aspect of the present technology is a work transfer apparatus that transfers a work between a plurality of work facilities,
A first rail extending along a first direction in which the plurality of work equipments are arranged;
A second rail that extends parallel to the first rail and is disposed below the first rail;
A robot supported by the first rail and the second rail and moving along the first direction, and a robot supported by the movable body, gripping a workpiece and transferring it between the plurality of work facilities And a control unit that is supported by the moving body and that controls the operation of the robot.
The robot is disposed above the first rail and the second rail at a position overlapping the first rail in a second direction orthogonal to the first direction when viewed from above.
The control device is an opposite side of the plurality of work equipments with respect to the first rail and the second rail with respect to the second direction, and the first rail when viewed from the second direction with respect to the vertical direction. And at least one of the second rails.

  According to the work transfer apparatus according to the present technology, it is possible to reduce the load acting on the connection portion between the transfer unit and the rail.

(A), (b) is a perspective view of the workpiece conveyance apparatus which all concern on this embodiment. (A) is a top view of a workpiece conveyance apparatus, (b) is the side view which looked at a workpiece conveyance apparatus from the other side of working equipment. Sectional drawing of the workpiece conveyance apparatus in the position shown in figure in FIG.2 (b). (A), (b) is a perspective view of a conveyance loader in all. (A) is a plan view of the transfer loader, (b) is a side view of the transfer loader viewed from the opposite side of the work equipment, (c), (d) is a side view of the transfer loader viewed from the traveling direction of the guide rail. (A) is a side view showing the robot arm in the mounting / removing attitude, and (b) is a side view showing the robot arm in the traveling attitude. (A), (b) shows the center of gravity position in the first configuration example of the transfer loader, (c), (d) is a side view showing the center of gravity position in the second configuration example of the transfer loader, (e) (F) is a side view which shows the gravity center position in the 3rd structural example of a conveyance loader.

  Hereinafter, a work transfer apparatus according to the present disclosure will be described with reference to the drawings. This work transfer apparatus can be suitably used in a general production system which sequentially transfers work among a plurality of work facilities including a production line of automobile parts and performs work on the work along a work process.

  As shown in FIGS. 1A and 1B, the work transfer apparatus 1 includes one or more transfer loaders 2 each having a robot arm 5 and a guide rail 3 serving as a travel path of the transfer loader 2. And. The conveyance loader 2 which is an example of a conveyance unit which conveys a work among a plurality of work equipment sets the work in the work equipment disposed in the space on one side of the guide rail 3 (left side in FIG. 1A). And hold the work after completion of the work and move it along the guide rail 3, and repeat the operation of setting the work in the work equipment in charge of the next process.

  In addition, the content of the operation | work performed in each working equipment in this embodiment is not specifically limited, In addition to the machine tool which processes press, welding, grinding, etc., the apparatus which assembles several workpieces, a machine or a person It may be equipment for inspecting a workpiece. Further, the transfer loader 2 may be any one having a function of transferring a work between work equipments, and for example, the transfer loader 2 itself has a function of performing some work on the work using the robot arm 5. May be

  Hereinafter, the vertical direction will be described as the Z-axis direction, the traveling direction of the transport loader 2 in the plane perpendicular to the Z-axis direction as the X-axis direction, and the direction perpendicular to the Z-axis and the X-axis as the Y-axis direction. 2 (a) is a plan view of the work transfer device 1, and FIG. 2 (b) is a side view of the work transfer device 1 as viewed from the opposite side of the work equipment in the Y-axis direction. The guide rail 3 of the work transfer apparatus 1 is configured by connecting a plurality of rail units 31, 32, and 33 in the X-axis direction. Rail units 31, 32, and 33 have different lengths d1, d2, and d3 in the X-axis direction, and can be used by appropriately changing the combination according to the arrangement of work equipment. It is configured.

  Each rail unit 31-33 is provided with the upper rail 3a and the lower rail 3b, and the trolley wire 3c located between upper and lower rails 3a, 3b. The upper rail 3a corresponds to a first rail extending in a first direction (in the X-axis direction in this embodiment) in which a plurality of work equipments are arranged, and the lower rail 3b is disposed below the first rail and parallel to the first rail It corresponds to the extending second rail.

  As shown in the cross-sectional view of FIG. 3, the upper rail 3a and the lower rail 3b are arranged side by side in the Z-axis direction and fixed to a guide frame 3d having legs 3e supported on the floor surface. The trolley wire 3c corresponding to the feeder is constituted by a plurality of electric wires extending in the X-axis direction in a state covered by the cover 3f opened on the lower side, and each electric wire is connected to a power supply or communication device (not shown) ing. That is, the trolley wire 3c according to the present embodiment includes a signal line for transmitting a signal from the communication device, and can transmit, for example, a command for stopping the transport loader 2 in an emergency.

  As shown in FIGS. 4A and 4B, the transport loader 2 includes a carriage 4 supported by the guide rails 3, a robot arm 5 supported by the carriage 4, and a control unit 8 attached to the carriage 4. And have. The carriage 4 corresponds to a movable body movable along the upper rail 3a and the lower rail 3b, and the robot arm 5 corresponds to a robot supported by the movable body and delivering a work to / from work equipment. The robot arm 5 in the present embodiment is an articulated robot, but a robot having a scalar structure or a parallel link robot may be used.

  The configuration of the transfer loader 2 will be described in detail with reference to FIGS. 5 (a) to 5 (d). The carriage 4 has a frame body 40 for supporting the weight of the robot arm 5 and the control unit 8, and a traveling portion (not shown) engaged with the upper rail 3a and the lower rail 3b. And 42. The frame body 40 has a horizontal frame 40a extending in the Y axis direction above the upper rail 3a, and a vertical frame 40b extending in the Z axis direction on the opposite side of the work equipment in the Y axis direction with respect to the guide rail 3.

  The robot arm 5 has a base 50 supported by the carriage 4 as a base, and the first arm 51, the second arm 52, and the third arm 53 are connected in order, and the tip of the third arm 53 holds a workpiece in parallel A wrist 55 is provided on which a grip such as an arm or a claw chuck is mounted. The robot arm 5 is driven with six degrees of drive freedom by operating an actuator such as a built-in servomotor or an electromagnetic valve, and can move the workpiece gripped by the gripping portion to any position and posture. In addition, by replacing the gripping portion with the workpiece to be transported, it is possible to adapt to conditions such as the shape and weight of the workpiece and the required positioning accuracy.

  The control unit 8 corresponding to the control device is configured by storing the control panel 8a, which is the main body of the control device, in the protective housing 8b, and is attached to the frame body 40. The transfer loader 2 is provided with a current collector 13 for taking in current from the trolley wire 3c, and the control panel 8a controls the operation of each part of the transfer loader 2 using power supplied via the current collector 13. The control board 8a is provided with a control circuit including an arithmetic unit and a memory, and drives the actuator of the robot arm 5 and the traveling wheel of the carriage 4 using an electric current taken in from the trolley wire 3c by executing a program installed beforehand. The drive motor is driven to control the operation of the robot arm 5 and the traveling operation of the transport loader 2.

  In addition to this, the transfer loader 2 relays a wire connecting the protective plate 11 for protecting the front of the transfer loader 2 (the surface facing the work equipment) above the guide rail 3, the control unit 8 and the robot arm 5. Devices such as a terminal box 9 for containing a substrate and a compressor for supplying compressed air to the robot arm 5 are mounted as needed. In addition, the control unit 8 is connected by wire or wirelessly to other transport loaders supported by the guide rails 3 and a control center that generally controls the production line, so that a plurality of transport loaders and production lines are linked. Is configured.

  Here, the arrangement of the rails and the weight balance of the transport loader 2 will be described. In this embodiment, the transport loader 2 is supported by a plurality of rails 3a and 3b arranged vertically, and the robot arm 5 located above the rails 3a and 3b transfers work with the work equipment. ing. With such a configuration, the occupied area of the guide rail as viewed from above becomes smaller compared to the arrangement in which the plurality of rails are arranged horizontally, and the worker can easily access the work equipment. That is, since it is easy for the worker to approach the work equipment from the lower side in FIG. 2A, the workability in the work such as inspection of the work equipment and parts replacement is improved.

  However, under such a vertically arranged rail arrangement, a moment may occur to tilt the transfer loader 2 due to the deviation between the position of the rails and the center of gravity of the transfer loader 2. For example, in FIG. 3, when the rail is disposed at a position as close as possible to the work equipment in the Y-axis direction (refer to broken line P0), the weight of robot arm 5 rotates bogie 4 clockwise in the figure. Moment of force is generated. When the positional deviation of the robot arm 5 occurs due to such a moment, there is a concern that the accuracy deterioration in the work of transferring the work to the work facility may be reduced. On the other hand, for example, increasing the rigidity of the guide rail 3 to such an extent that the influence of a moment can be ignored leads to an increase in size of the guide rail 3 and an increase in cost.

  Further, in the conventional work transfer apparatus, a control device such as a control panel 8a for controlling the operation of the robot arm 5 is disposed separately from the transfer loader 2, and a configuration is used in which control signals are sent to the transfer loader 2 by wire connection. It was However, in such a configuration, the wiring connecting the transfer loader 2 and the control device complicates the configuration of the production system, and the accessibility of the operator to the work equipment is reduced.

  Therefore, the work transfer apparatus 1 according to the present embodiment offsets the arrangement of the guide rails 3 so that the robot arm 5 supported by the carriage 4 is positioned above the upper rail 3a, and the control unit 8 is mounted on the carriage 4 Adopted the configuration to be installed.

  That is, as shown in FIG. 3, the connecting position P1 between the upper and lower rails 3a and 3b and the connecting portions 41 and 42 of the transfer loader 2 is separated from the foremost surface of the work facility in the second direction (Y axis direction). The robot arm 5 and at least the upper rail 3a are arranged so as to overlap with each other as viewed from above. In other words, the direction in which the connecting position P1 of the guide rail 3 and the transfer loader 2 is separated from the work equipment as compared to the position (broken line P0) of the protective plate 11 that constitutes the side of the work loader side of the transfer loader 2 in the Y axis direction. It was offset (to the right in the figure). More specifically, it is preferable that the base 50 of the robot arm 5 be disposed so as to overlap with each of the upper rail 3a and the lower rail 3b as viewed from above. With such an arrangement, the position of the center of gravity of the robot arm 5 in the Y-axis direction approaches the position of the upper rail 3a, so that generation of a moment of force causing the robot arm 5 to fall in the clockwise direction in the drawing can be reduced. it can.

  The control unit 8 is supported by the carriage 4 and disposed at a position overlapping with at least one of the upper rail 3a and the lower rail 3b in the Z-axis direction, and at the opposite side of the work equipment in the Y-axis direction with respect to the guide rail 3. did. By configuring the control unit 8 as a part of the transfer loader 2, the wiring that configures the work transfer device 1 can be minimized. And, by arranging the control unit 8 having a certain weight on the side of the guide rail 3 and arranging the position in the vertical direction to overlap with at least one of the rails 3a and 3b, the center of gravity of the transport loader 2 can be realized. The stability of the transport loader 2 can be enhanced by setting it as low as possible.

  Here, as shown in FIG. 6A, when the transport loader 2 sets (mounts) or removes a work from the work equipment, the robot arm 5 extends in the direction of the Y axis toward the work equipment Take a posture (detachment posture). At this time, the distance X1 from the connection portions 41 and 42 of the transport loader 2 to the guide rail 3 to the gravity center position Ga of the transport loader 2 is the barycentric position Gb when the transport loader 2 travels between the work facilities (FIG. 6 (b It becomes small compared with distance X2 to)). In other words, when the robot arm 5 takes the mounting and demounting posture, the offset amount X0 of the connecting portions 41 and 42 in the Y-axis direction is set such that the gravity center position Ga of the transport loader 2 approaches the position of the connecting portions 41 and 42 It is done. However, the offset amount X0 is the distance from the end position on the work equipment side of the carriage 4 (for example, the position of the protective plate 11 in FIG. 3) to the connecting portions 41 and 42.

  In such a configuration, by arranging the control unit 8 on the opposite side of the work equipment in the Y-axis direction, the weight balance in a state where the robot arm 5 extends the arm toward the work equipment becomes good. That is, in the state where the robot arm 5 takes the mounting and demounting posture, when the connecting portion 41 of the upper rail 3a and the transfer loader 2 is considered as the fulcrum, the weight of the robot arm 5 and the work W gripped by the robot The moment of the acting force and the moment of the force acting on the transport loader 2 due to the weight of the control unit 8 cancel each other. Therefore, it is possible to avoid that a large load acts on the connecting portion between the guide rail 3 and the transport loader 2.

  In the configuration where the control unit 8 is disposed on the same side as the work equipment in the Y-axis direction, when the robot arm 5 extends the arm toward the work equipment, a large moment occurs in the direction of falling down toward the work equipment. I will. When the control unit 8 is disposed above the guide rails 3, the center of gravity of the transport loader 2 ascends and the stability is impaired. When the control unit 8 is disposed below the guide rails 3, the guide rails 3 move. Since the space is provided, the height of the work transfer apparatus 1 is increased. Therefore, by adopting the arrangement of the present embodiment, the weight balance of the transport loader 2 can be improved while avoiding such inconveniences.

  Next, the posture (running posture) of the robot arm 5 when traveling while holding the workpiece W from the position where the transport loader 2 faces a certain work equipment to the position where the work loader faces the other work equipment will be described. As shown in FIG. 6B, in the traveling posture, the robot arm 5 and the workpiece W gripped by the tip thereof are held above the connecting portions 41 and 42 with respect to the guide rail 3. In other words, when the transport loader 2 travels between a plurality of positions facing a plurality of work equipments, the control unit 8 is configured such that each arm (51 to 53) of the robot arm 5 and the work W are viewed from the upper side The attitude of the robot arm 5 is controlled so as to be held at a position overlapping with 3a. This ensures that the gravity center position Gb of the transfer loader 2 including the work W when the transfer loader 2 travels is in the vicinity of the connection position of the transfer loader 2 and the guide rail 3 regardless of the weight of the work W Be done.

  If a configuration is adopted in which interference with the work equipment is avoided by tilting the robot arm 5 in the direction of moving away from the work equipment (rightward in the figure) when the transport loader 2 travels, A part may project to the right in the figure, and the protruding portion may come into contact with an obstacle as the transport loader 2 travels. Also, in order to keep the gravity center position Gb of the transfer loader 2 near the connection position of the transfer loader 2 and the guide rail 3 regardless of the weight of the work W, the inclination angle of the robot arm 5 is changed according to the weight of the work W Control is complicated. On the other hand, such a disadvantage can be avoided by adopting the traveling posture as in the present embodiment.

  FIG. 7 shows the result of analyzing the position of the center of gravity for three transfer loaders 2 having different configurations. In FIG. 7, (a) and (b) represent a first configuration example (2A) of the transfer loader 2, and (c) and (d) represent a second configuration example (2B) of the transfer loader 2, (E) and (f) represent a third configuration example (2C) of the transfer loader 2. Further, each drawing in the upper part is a schematic view seen from the Y-axis direction, and each drawing in the lower part is a schematic drawing of a cross-section seen from the X-axis direction. The barycentric positions G1, G2, and G3 in the respective drawings represent the barycentric positions of the transfer loaders 2A, 2B, and 2C when the robot arm 5 does not grip the workpiece and is in the traveling posture.

  In the transfer loaders 2A to 2C shown in each drawing of FIG. 7, the positional relationship of the elements constituting the transfer loaders 2A to 2C is different, for example, the arrangement of the control unit 8 and the terminal box 9 in the vertical direction is different. The barycentric positions G1 to G3 are also different. For example, the central position of the connecting portions 41 and 41 between the carriage 4 and the upper rail 3a is set as the reference position Px in the X-axis direction, and the position of the upper rail 3a viewed from the X-axis direction is the reference position in the Y-axis and Z-axis directions When Py and Pz, the barycentric position G1 in the first configuration example is from the reference point (Px, Py, Pz) to a position of (-6 [mm], -187 [mm], +87 [mm]) . The gravity center position G2 in the second configuration example is located at (+37 [mm], -249 [mm], +328 [mm]) from the reference point (Px, Py, Pz). The gravity center position G3 in the third configuration example is located at (+37 [mm], -249 [mm], +105 [mm]) from the reference point (Px, Py, Pz).

  Each of these configuration examples is an example of a configuration adopting the arrangement as described in the above-described embodiment for the robot arm 5 and the control unit 8, and the load acting on the connecting portion with the guide rail 3 is practically sufficient. The value is small enough. For example, the control unit 8 in the second configuration example is configured to overlap only with the upper rail 3a in the Z-axis direction, and acts on the guide rail 3 although the center of gravity G2 is higher than in the other configuration examples. The magnitude of the load was within the allowable range.

  In the configuration example shown in FIG. 7, the overall weight of the transport loader 2 is about 340 kg, of which the robot arm 5 occupies about 30 kg and the control unit 8 occupies about 50 kg. Further, in the size of the transfer loader 2 excluding the robot arm 5 in each configuration example, the length Lx in the X-axis direction is about 810 mm, and the length Ly in the Y-axis direction is about 520 mm. Therefore, if the moment of the force acting on the transport loader 2 centering on the upper rail 3a is within the same value as the moment of the force derived from these numerical values, the size, weight, etc. of the transport loader 2 Regardless of the details, a weight balance as good as each configuration example shown in FIG. 7 can be realized.

[Other embodiments]
In the present embodiment, “first rail” and “second rail” refer to any two rails in the case where a plurality of rails are arranged at different positions in the vertical direction, and guide rails 3 The present technology can also be applied to a form in which three or more rails are provided. Further, the first rail and the second rail are not limited to an overlapping positional relationship as viewed from above, and one may be offset from the other.

<Summary of this embodiment>
The work transfer apparatus (1) according to the present embodiment is a work transfer apparatus (1) for transferring a work between a plurality of work equipments.
A first rail (3a) extending along a first direction in which the plurality of work equipments are arranged;
A second rail (3b) which extends parallel to the first rail (3a) and which is disposed below the first rail (3a);
Supported by the first rail (3a) and the second rail (3b) and supported by the movable body (4) moving along the first direction and the movable body (4) A transfer unit comprising: a robot (5) for transferring between the plurality of work facilities; and a control device (8) supported by the movable body (4) to control the operation of the robot (5) 2) and
When the robot (5) is above the first rail (3a) and the second rail (3b) and viewed from above, the first rail (with respect to a second direction orthogonal to the first direction) Placed at a position overlapping with 3a),
The control device (8) is an opposite side of the plurality of work facilities with respect to the first rail (3a) and the second rail (3b) in the second direction, and the second direction in the vertical direction. In view of at least one of the first rail (3a) and the second rail (3b).

  With such an arrangement, the weight of the robot is supported by the first rail disposed at a position overlapping with the robot as viewed from above, and the weight of the robot is prevented from acting as a force to cause the transport unit to fall down. Be In addition, the weight of the control device causes the transport unit to fall by disposing the control device at a position opposite to the work equipment and overlapping at least one of the first rail and the second rail in the vertical direction. The force acting as a force can be reduced and, rather, the robot can be used as a tool for well maintaining the weight balance in the state where the workpiece is gripped inside the work equipment.

Further, the work transfer apparatus (1) according to the present embodiment is
It has a feeder (3c) extending in the first direction between the first rail (3a) and the second rail (3b) in the vertical direction, and connected to a power supply,
The transport unit (2) includes a current collector (13) for taking in current from the feed line (3c).

  According to this configuration, since the feed line is disposed utilizing the space between the first rail and the second rail, the wiring for supplying power to the conveyance unit is not necessary, and the wiring constituting the work conveyance device is minimized. Can be limited.

Further, in the work transfer apparatus (1) according to the present embodiment,
The first rail (3a) and the second rail (3b) are arranged to overlap when viewed from above.

  According to this configuration, the occupied area of the first rail and the second rail viewed from above can be minimized, so that the worker can easily access the work equipment at the time of maintenance work or the like.

Further, in the work transfer apparatus (1) according to the present embodiment,
The robot (5) is a base (50) attached to the movable body (4), and an arm (51, 52, 53) which is movably supported by the base (50) and holds a work at its tip end And
The base (50) is disposed so as to overlap the first rail (3a) as viewed from above.

  According to this configuration, in the configuration in which the arm of the robot moves according to the work content, at least the base attached to the moving body is at a position overlapping with the first rail as viewed from above, so the center of gravity of the robot Can be easily realized in a configuration well supported by the first rail.

Further, in the work transfer apparatus (1) according to the present embodiment,
The transfer unit (2) is a position where the workpiece (W) gripped by the arm (51, 52, 53) and the arm (51, 52, 53) is viewed from above and overlaps the first rail (3a) In a state of being held by the plurality of work equipments, it is configured to move between a plurality of positions facing the plurality of work equipments.

  According to this configuration, it is possible to maintain a good weight balance when the transport unit moves between a plurality of work equipments, and reduce the possibility that the arm held by the robot or the work held by the arm interferes with the obstacle. be able to.

DESCRIPTION OF SYMBOLS 1 ... Work conveyance apparatus / 2 ... conveyance unit (conveyance loader) / 3a ... 1st rail (upper rail) / 3b ... 2nd rail (lower rail) / 3c ... Feeding line (trolley line) / 4 ... Moving body (cart / 5 ... Robot (robot arm) / 8 ... Control device (control unit) / 13 ... Current collector / 50 ... Base / 51, 52, 53 ... Arm

Claims (5)

A work transfer apparatus for transferring a work between a plurality of work facilities, wherein
A first rail extending along a first direction in which the plurality of work equipments are arranged;
A second rail that extends parallel to the first rail and is disposed below the first rail;
A robot supported by the first rail and the second rail and moving along the first direction, and a robot supported by the movable body, gripping a workpiece and transferring it between the plurality of work facilities And a control unit that is supported by the moving body and that controls the operation of the robot.
The robot is disposed above the first rail and the second rail at a position overlapping the first rail in a second direction orthogonal to the first direction when viewed from above.
The control device is an opposite side of the plurality of work equipments with respect to the first rail and the second rail in the second direction, and the first rail and the first rail when viewed from the second direction in the vertical direction. Placed at a position overlapping at least one of the second rails,
Work transfer device. A feed line extending in the first direction between the first rail and the second rail in the vertical direction and connected to a power supply,
The transport unit comprises a current collector for taking current from the feed line,
The workpiece transfer apparatus according to claim 1. The first rail and the second rail are arranged to overlap when viewed from above,
The workpiece transfer apparatus according to claim 1. The robot has a base attached to the movable body, and an arm movably supported by the base and gripping a workpiece at a tip end.
The base is disposed so as to overlap with the first rail as viewed from above,
The workpiece transfer apparatus according to any one of claims 1 to 3. The transport unit moves between a plurality of positions facing the plurality of work equipments in a state in which the arm and the work gripped by the arm are held at a position overlapping with the first rail as viewed from above ,
The workpiece transfer apparatus according to claim 4.

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