JP5191789B2 - Production equipment and production system - Google Patents

Description

  The present invention relates to a production apparatus and a production system.

Production equipment that builds a production line by sequentially arranging various work units such as work robots, assembly work, fastening work, adjustment work, or inspection work using a transport means that transports workpieces for the production of industrial products (See, for example, Patent Document 1 and Patent Document 2).
In recent years, with the miniaturization and high precision of products, production in a clean environment is required to maintain high quality, especially in precision equipment.

  In the production apparatus described in Patent Document 1, the working means for assembling, fastening coupling, adjustment, and inspection is a clean indoor unit (working unit), and the indoor units are arranged side by side to assemble and fasten the micro components. A manufacturing system is built to perform coupling, adjustment, and inspection operations in indoor units.

  In the production apparatus described in Patent Literature 2, parts supply, adhesive application, and joining are modularized (working units), and these modules are finely adjacent to the table in accordance with the assembly process for assembling the fine parts. We are building parts assembly equipment.

In any of the production apparatuses described in Patent Document 1 and Patent Document 2, the installation position of the work unit is determined, and the operator of the production apparatus directly installs the work unit at the installation position.
Japanese Patent No. 3094669 JP 2005-81453 A

  However, in the production apparatuses described in Patent Document 1 and Patent Document 2, when the work unit is directly installed at the installation position of each work unit, the operator needs to move the work unit to the installation position. There is a problem that it is difficult to move.

  In particular, when moving a work unit into a space partitioned from the outside in a clean environment, it is necessary to move the work unit while maintaining a clean environment, and there is a problem that the work unit is more difficult to move. .

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a production apparatus and a production system capable of easily moving a work unit carried into a work chamber from a loading / unloading outlet. Is to provide.

In order to solve the above problems, the present invention proposes the following means.
The production apparatus according to the present invention is a production apparatus that performs work on a workpiece, and has a plate-like shape that partitions a box-shaped apparatus main body, and the apparatus main body into a lower work preparation chamber and an upper work chamber. A partition member, a movable floor portion that can be moved up and down from the inside of the work preparation chamber to the position of the partition member, a lift mechanism that is provided in the work preparation chamber and moves up and down the movable floor portion, and the movable floor portion. A work unit that is detachably attached to the work preparation room, and a loading / unloading port provided in a side wall partitioning the work preparation room from the outside in order to put the work unit into and out of the work preparation room; In the work preparation chamber, a driving force is applied to the lower surface of the work unit in a plane area between the charging / discharging port and the movable floor lowered by the elevating mechanism. At least two It is characterized in that and a transport mechanism for transporting the.

  According to the production apparatus of the present invention, the work unit can be transported in at least two directions by the transport mechanism within the plane region between the charging / discharging port and the movable floor portion. For this reason, the work unit carried in through the charging / discharging port can be moved from the charging / discharging port to the movable floor portion. And by raising this movable floor part to the position of the partition member, the work unit can be carried into a work room which is a space partitioned from the outside. As a result, the work unit can be easily moved from the input / output port into the work chamber.

  Further, in the production apparatus according to the present invention, the transport mechanism biases the driving force to the work unit, and a plurality of transport units capable of independently changing the biasing directions are provided in the plane region. Then, it is preferable that three or more are provided at intervals contacting the lower surface of the working unit.

  In this case, since the direction in which the conveyance units constituting the conveyance mechanism urge the driving force can be changed independently, the urging directions of the respective driving forces of the conveyance units that are in contact with the lower surface of the work unit are three or more. By changing, the conveyance direction can be changed to various directions.

  In the production apparatus according to the present invention, it is preferable that the transport unit includes a rotating body that is rotatably supported around at least a vertical axis and a horizontal axis, and a rotation driving unit that rotates the rotating body.

  Moreover, in the production apparatus according to the present invention, the rotating body is a sphere that is rotatably supported around three axes orthogonal to each other, and the rotation driving unit is an ultrasonic motor using an ultrasonic transducer. It is preferable.

In this case, by using an ultrasonic motor as the rotation drive unit, the configuration of the electric motor necessary for rotating the sphere can be simplified.
Further, since the rotating body is a spherical body, even when the lower surface of the working unit and the rotating body are in point contact and the rotating body rotates around the vertical axis, the loss of driving force due to friction with the working unit can be reduced. . Therefore, the work unit can be efficiently conveyed.

  In the production apparatus according to the present invention, a part of the transport unit is provided in a region overlapping the movable floor portion in a vertical direction, and a part of the transport unit is inserted into the movable floor portion from below. It is preferable that an opening to be enabled is provided, and the elevating mechanism can lower the movable floor portion to a position where the upper surface of the movable floor portion is lower than a part of the upper end portion of the transport unit.

  In this case, while the movable floor is lowered by the lifting mechanism, the work unit is transferred onto the movable floor by the transfer unit whose upper end protrudes on the movable floor through the opening of the movable floor, and is movable by the lifting mechanism. The work unit can be transferred onto the movable floor by raising the floor. Moreover, the operation unit on the movable floor can be transferred to the transport mechanism by the reverse operation. Thereby, delivery of a work unit can be performed smoothly.

  Moreover, in the production apparatus which concerns on this invention, it is preferable to provide the transfer mechanism which transfers the said work unit between the said conveyance mechanism and the said movable floor part.

  In this case, since the transfer mechanism is provided, the transfer unit can smoothly transfer the work unit between the transport mechanism and the movable floor.

  In the production apparatus according to the present invention, it is preferable that the lower surface of the work unit has a size common to all the work units.

  In this case, since the size of the lower surface of the work unit is common, the work unit can be easily carried in and out and replaced.

  Further, the production system according to the present invention includes a plurality of production apparatuses according to the present invention adjacent to each other, and each of the production apparatuses adjacent to each other communicates with each other at the input / output port. The work unit can be transported between the plurality of production apparatuses by a transport mechanism.

  According to the production system according to the present invention, work units can be transported between a plurality of production apparatuses through the input / output ports of adjacent production apparatuses, so that various production apparatuses can be combined to support various productions. can do.

  According to the production apparatus and the production system according to the present invention, there is an effect that the work unit carried into the work chamber from the loading / unloading port can be easily moved in the apparatus.

[First Embodiment]
Hereinafter, a production apparatus according to a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic perspective view showing a production apparatus according to a first embodiment of the present invention. FIG. 2 is a schematic plan view showing the production apparatus according to the first embodiment of the present invention. FIG. 3 is a functional block diagram showing a functional configuration including the control unit of the production apparatus according to the first embodiment of the present invention. FIG. 4A is an exploded perspective view of the movable floor portion and the lifting platform. FIG. 4B is a schematic cross-sectional view of the work preparation chamber. FIG. 5A is a schematic plan view of the work preparation chamber. FIG.5 (b) is the elements on larger scale of the vicinity of the injection | pouring outlet in FIG.5 (a). FIG. 6 is a front view of the transport unit. FIG. 7 is a side view of the transport unit. FIG. 8 is a schematic perspective view of an example of a work unit.

  As shown in FIGS. 1 to 3, the production apparatus 1 according to the present embodiment includes an apparatus main body 5 having a work preparation chamber 2, a work chamber 3, and a control unit 4, and a work unit 6.

  As shown in FIG. 1, the apparatus main body 5 has a box shape, and is divided into a work preparation chamber 2 below the partition wall member 7 and a work chamber 3 above the partition wall member 7 by a flat partition wall member 7. It is partitioned.

  The work preparation chamber 2 is a space that is partitioned from the outside by being surrounded by the side wall portions 2a, 2b, 2c, and 2d on the four sides, with the partition wall member 7 being a ceiling portion below the partition wall member 7. Here, the side wall 2a is the left side wall in FIG. 1 and faces the right side wall 2c. Moreover, the side wall part 2b is a front side wall in FIG. 1, and is opposed to the back side wall part 2d.

As shown in FIGS. 1 and 2, the partition wall member 7 has a rectangular shape in plan view in an inner U-shaped region along three sides where the side wall portions 2 a, 2 b, 2 c and the partition wall member 7 contact each other. Holes 71a, 71b, 71c, 71d are provided, respectively. That is, a hole 71a is provided along the side where the side wall 2a and the partition member 7 are in contact, and holes 71b and 71c are provided along the side where the side wall 2b and the partition member 7 are in contact, respectively. A hole 71d is provided at a position facing the hole 71a along the side in contact with the member 7.
Hereinafter, when it is not necessary to distinguish each hole 71, they are simply referred to as holes 71.

For each hole 71 of the partition wall member 7, a movable floor portion 8 having a rectangular floor surface portion 84 that can substantially close each hole 71 is disposed so as to be able to advance and retreat from the inside of the work preparation chamber 2.
As shown in FIG. 4A, the movable floor portion 8 includes an attachment portion 82 that is attached to the lifting mechanism 23 described later, a flat plate portion 83 that extends horizontally from the attachment portion 82, and an upper surface of the flat plate portion 83. The floor portion 84 is formed in a rectangular shape that can be fitted into the hole 71 by a thickness substantially equal to that of the partition wall member 7. Further, when the upper surface of the floor surface portion 84 of the movable floor portion 8 is lowered to a position lower than the upper end portion of the transport unit 241 described later, the rotating body 241b of the transport unit 241 is moved from the lower surface side to the upper surface side. Insertion hole (opening of the movable floor portion) 81 is formed. In the present embodiment, one insertion circular hole 81 is provided in the vicinity of the intermediate portion of each side of the floor surface portion 84.
In addition, below, when it is necessary to distinguish each movable floor part 8, it calls the movable floor parts 8a, 8b, 8c, and 8d corresponding to the holes 71a, 71b, 71c, 71d.

  On each movable floor 8, as shown in FIGS. 1 and 2, a work unit 6 that is a work target placed on a rectangular plate-shaped pallet P, or a work unit 6 having a rectangular bottom 62. The movable floor 8 is detachably provided. The rectangular shape of the bottom 62 of the work unit 6 or the pallet P may be either a rectangle or a square. However, as an example in the present embodiment, the bottom surface of the pallet P and the bottom surface of the bottom 62 of the work unit 6 are both one side long. A case where the length is unified to a square of D1 will be described.

Moreover, as shown in FIG.1 and FIG.5 (a), the side wall of the holes 71b and 71c is formed in the side wall part 2b according to two holes 71b and 71c of the partition wall member 7 provided along the side wall part 2b. Rectangular unit storage ports 21b and 21c that are opened in substantially the same range as one side along the portion 2b are provided. Similarly, the side wall 2c is provided with a unit storage port 21d corresponding to the hole 71d of the partition wall member 7 provided along the side wall 2c, and the side wall 2a is similarly provided with the side wall 2a. The unit storage port 21a is provided at a position facing the unit storage port 21d according to the hole 71a of the partition wall member 7 provided along the wall.
Hereinafter, when it is not necessary to distinguish each of the unit storage ports 21a, 21b, 21c, and 21d, they are simply referred to as a unit storage port 21.

  The opening width in the height direction of the unit storage port 21 is formed to be larger than the size in a side view of the work unit 6, and the work unit 6 passes between the work preparation chamber 2 and the outside through the unit storage port 21. Can be put in and out.

Further, between the unit storage ports 21b and 21c of the side wall portion 2b, a rectangular charging / discharging port 22b having an opening size substantially equal to the size of the unit storage port 21 is formed. A charging / discharging port 22d is formed at a position facing the charging / discharging port 22b. In addition, a charging / discharging port 22c is formed at a position adjacent to the unit storage port 21d of the side wall 2c, and a charging / discharging port 22a is formed at a position facing the charging / discharging port 22c in the side wall 2a. Yes.
In the following description, when it is not necessary to distinguish the input / output ports 22a, 22b, 22c, and 22d, they are simply referred to as the input / output ports 22.

  Further, as shown in FIGS. 4B, 5A, and 5B, an elevating mechanism 23, a transport mechanism 24, and a camera 25 are provided in the work preparation chamber 2. Yes.

  The elevating mechanism 23 is composed of a stage or the like that drives the slider along the linear guide by a driving unit made of, for example, a ball screw or a driving motor, and as shown in FIG. 4B, the movable floor 8 attached to the slider. It is a moving mechanism which raises / lowers the attaching part 82 of this. The raising / lowering range of the raising / lowering mechanism 23 is from the lower limit position P1 which is a position where the upper surface of the floor surface part 84 of the movable floor part 8 is lower than the upper end part of the conveyance unit 241 mentioned later, and the upper surface of the flat plate part 83 of the movable floor part 8 is a partition member. 7 is a range up to the upper limit position P2 in contact with 7.

  When the movable floor portion 8 is moved to the lower limit position P1 by the elevating mechanism 23, the movable floor portion 8 is below the unit storage port 21a, and the work unit 6 is inserted from the unit storage port 21a and placed on the movable floor portion 8a. Can be placed. Further, when the movable floor portion 8 is moved to the upper limit position P <b> 2, the floor surface portion 84 of the movable floor portion 8 is aligned with the partition wall member 7. 4B shows the lifting mechanism 23 provided corresponding to the movable floor portion 8a, the lifting mechanism 23 provided corresponding to the other movable floor portions 8b, 8c, 8d is also shown. It consists of the same composition.

Further, on the side of the work preparation chamber 2 below the partition wall member 7, flat plate-like sealing means 233 for closing each hole 71 of the partition wall member 7 when the movable floor 8 is lowered from the upper limit position P2 is provided. Yes.
When the movable floor 8 is raised to the upper limit position P2, the sealing means 233 is retracted in the horizontal direction as indicated by a two-dot chain line in the drawing.
By closing the hole 71 with the sealing means 233, it is possible to prevent dust from entering the work chamber 3 from the work preparation chamber 2 side. In the production apparatus 1 of the present embodiment, when the work unit 6 and the workpiece W are not arranged on the movable floor 8, the movable floor 8 is always at the lower limit position P1, and the hole 71 is closed by the sealing means 233. It is peeling off.

  As shown in FIGS. 4 (b) and 5 (a), the transport mechanism 24 is a horizontal plane between the loading / unloading ports 22a, 22b, 22c, 22d and the movable floor portions 8a, 8b, 8c, 8d. This is a moving mechanism that transports the work unit 6 within an area and includes a plurality of transport units 241 that urges the work unit 6 with a driving force.

As shown in FIGS. 6 and 7, the transport unit 241 includes a first actuator 241 a that rotates a rotary shaft 241 d arranged vertically upward about an axis (vertical axis) A1 of the rotary shaft 241 d; A U-shaped housing H fixed to the upper end of the rotating shaft 241d, a horizontal shaft 241e that is rotatably supported by the housing H in the horizontal direction, and an axis of rotation of the horizontal shaft 241e. A second rotating body 241b, which is fixed to the middle portion of the horizontal shaft 241e so as to coincide with the center (horizontal axis) A2 and whose busbar has an arc-shaped barrel shape, and the horizontal shaft 241e rotates about the axis A2. Actuator 241c.
The fixed position of the rotating body 241b is set so that the upper apex u of the rotating body 241b is positioned on the axis A1 of the rotating shaft 241d.

According to this transport unit 241, the second actuator 241c causes the rotating body 241b to rotate in one direction around the axis A2, for example, the clockwise direction in FIG. 7, thereby contacting the upper apex u of the rotating body 241b. A driving force can be applied to the surface in a driving direction K (from left to right in FIG. 7) that is a tangential direction in a horizontal plane that includes the upper apex u and is orthogonal to the axis A1.
Further, by rotating the housing H around the axis A1 by the first actuator 241a, the rotating body 241b can be rotated around the axis A1, and the direction of the driving direction K can be changed in the horizontal plane.
Further, since the upper apex u of the rotating body 241b can be brought into point contact with the lower surface of the work unit 6, even when the rotating body 241b rotates around the axis A1, it is caused by friction with the abutting surface. The loss of driving force is small, and the conveyance can be performed efficiently.

As shown in FIG. 4B, each transport unit 241 is arranged in the work preparation chamber 2 in a state where the upper tops u of the respective rotating bodies 241b are aligned in the same horizontal plane.
Further, as shown in FIG. 5 (a), these transport units 241 are straight in the direction perpendicular to the side wall 2a from the loading / unloading port 22a to the loading / unloading port 22c with the same width as the loading / unloading ports 22a and 22c. Are arranged in a zigzag shape in a plan view in a belt-like region L1 extending in the direction of. As shown in FIG. 5B, the arrangement pitch in the longitudinal width direction of the belt-like region L1 of each transport unit 241 is a pitch D22 (where D22 <D1), and is arranged in parallel with the short width direction of the belt-like region L1. The arranged pitch of the three rows is a pitch D21 / 2 (where D21 <D1). Out of the three rows in the short width direction of the belt-like region L1, the outer two rows are aligned in a square lattice shape along the longitudinal width direction and the short width direction of the belt-like region L1, and the middle one row is the belt-like region L1. As a whole, they are arranged in a staggered pattern by being shifted by D22 / 2 in the longitudinal width direction. Here, the reference of the arrangement position of the conveyance units 241 is the axis A1 of each conveyance unit 241, and the pitch D22 and the pitch D21 / 2 are the arrangement pitch of the upper side top u.
In the present embodiment, the pitch D21 and the pitch D22 are equal in length. Therefore, in this embodiment, the adjacent pitches D23 in the oblique direction of the respective transport units 241 are all equal, and D23 = D21 · (√2) / 2.

  By disposing each transport unit 241 in this way, the work unit 6 and the pallet P placed in the belt-like region L1 are supported by being brought into contact with four or five upper tops u on the lower surface.

Moreover, it is the same width as the loading / unloading ports 22b and 22d, and the width of the belt-like region L2 extending straight from the loading / unloading port 22b to the loading / unloading port 22d in the direction perpendicular to the side wall 2b, and the unit storage ports 21a and 21d. Thus, the plurality of transport units 241 in a zigzag shape in plan view also in the belt-like region L3 extending straight from the unit storage port 21a to the unit storage port 21d in a direction orthogonal to the side wall 2a in the same positional relationship as the belt-like region L1. Are arranged.
As described above, in the present embodiment, the belt-like region L2 has a positional relationship intersecting with the belt-like region L1 and the belt-like region L3, respectively, and the rectangular regions that intersect with each other are hereinafter referred to as the intersecting regions Q2 and Q3. In the intersection areas Q2 and Q3, a total of five transport units 241 are arranged at the four corners and the center of each of the intersection areas Q2 and Q3.

  Here, for convenience of direction reference, an XY coordinate system is defined in which the intersection point between the side wall 2a and the side wall 2b is the origin O in the horizontal plane in which the upper apex u is aligned. In this XY coordinate system, the X-axis direction is orthogonal to the side wall portion 2a, the direction from the charging / discharging port 22a toward the charging / discharging port 22c is positive, and the Y-axis direction is orthogonal to the side wall portion 2b. The direction from the outlet 22b toward the inlet / outlet 22d is defined as a positive direction.

  Further, the transport units 241 are also provided in a staggered pattern in a plan view that matches the arrangement of the transport units 241 in the adjacent belt-like region L1 in the region overlapping the movable floor portions 8b and 8c in the vertical direction. In the case of the present embodiment, the transfer unit 241 provided in these regions and the transfer unit 241 provided in the region overlapping with the movable floors 8a and 8d in the belt-like region L3 in the vertical direction have the movable floor 8 lower limit. When lowered to the position P1, as shown in FIG. 6 and FIG. 7, each rotating body 241b is inserted into each insertion circular hole 81 of the movable floor 8, and the upper top u protrudes from the upper surface of the movable floor 8. become.

  The camera 25 is a wide-angle camera capable of photographing the entire transport mechanism 24, and is provided on the lower surface of the partition wall member 7, as shown in FIG. Image data captured by the camera 25 is sent to the control unit 4. The number of cameras 25 is not limited as long as the image of the transport mechanism 24 can be captured as a whole, and the entire image may be captured using a plurality of cameras.

As shown in FIG. 1, the working chamber 3 is a space partitioned from the outside by a rectangular parallelepiped cover 31 provided on the upper side of the partition member 7 so as to cover the side surface and the upper side with the partition member 7 as a floor. is there. In the present embodiment, one side surface of the work chamber 3 is closed by a rectangular parallelepiped housing 4 a that houses the control unit 4.
The control unit 4 may be provided in the apparatus main body 5, and may be provided in the work preparation chamber 2 or the work chamber 3, for example. In this case, the casing 4 a of the control unit 4 may be omitted, and the cover 31 may be formed so as to surround the four sides of the partition wall member 7.

  In the work chamber 3, as shown in FIGS. 1 and 2, a stage 32 on which the workpiece W is placed is provided between the movable floor portion 8b and the movable floor portion 8c on the upper surface of the partition wall member 7, and the stage A work robot 33 is provided at a position surrounded by 32 and the movable floor 8.

The work robot 33 includes an articulated work arm 331 in which link members are connected by a plurality of movable joints.
A transfer work tool 332a for transferring the workpiece W is detachably attached to the tip of the work arm 331 of the present embodiment. In addition, the work arm 331 is formed to have a length that reaches all the movable floor portions 8, and can transfer the workpiece W between the work unit 6 and the pallet P that are mounted on the movable floor portion 8.
Note that the transfer work tool 332a of the present embodiment is for holding and transferring the workpiece W, and the operation lever 61b provided in the adhesive application work unit 6a described later is operated by the operation of holding the workpiece W. be able to.

  In addition, a plurality of types of work tools 332 are accommodated in the tool magazine 333 disposed in the vicinity of the work robot 33. In addition to the transfer work tool 332a, the tool magazine 333 contains a suction hand that handles thin parts, an assembly tool that assembles parts, a laser tool that performs welding, cutting, and the like, and a rotary tool that processes parts. These work tools 332 can be exchanged for the work tool 332 attached to the tip of the work arm 331.

  The cover 31 includes a clean unit 31a on the upper surface. The clean unit 31a cleans the air in the work chamber 3 and keeps the work environment of the production apparatus 1 clean.

As illustrated in FIG. 3, the control unit 4 is configured by appropriate hardware such as a computer having a CPU, a RAM, and an external storage device. The control unit 4 includes an input unit 4b for an operator who operates the production apparatus 1 to input conveyance information and the like related to a route through which the work unit 6 and the pallet P are conveyed in the production apparatus 1, and a camera 25. It is connected to the. The control unit 4 can process the image data sent from the camera 25 and determine the position and orientation of the work unit 6 or the pallet P on the transport mechanism 24. The control unit 4 executes the control program based on the information input from the input unit 4b and the camera 25, so that each mechanism of the apparatus body 5 such as the transport mechanism 24, the lifting mechanism 23, and the work robot 33 is controlled. Can be controlled. In particular, regarding the control of the transport mechanism 24, each transport unit 241 can be controlled independently.
As for the operation of the work unit 6, the work robot 33 may be controlled to operate the work unit 6, or the work mechanism 61 of the work unit 6 may be directly connected via a connector or the like (not shown). You may control.

  As shown in FIGS. 1 and 2, the work unit 6 includes a work mechanism 61 that performs at least one of various kinds of work such as processing, assembly, adjustment, measurement, cleaning, bonding, inspection, welding, and soldering. And a bottom 62 to which the working mechanism 61 is fixed. Note that the work unit 6 shown in FIGS. 1 and 2 shows the work mechanism 61 in a simplified manner for easy viewing.

  As an example of the work unit 6, an adhesive application work unit 6a having an adhesive application work mechanism 61a shown in FIG. 8 can be cited. The adhesive application work mechanism 61a is configured to support the syringe S filled with adhesive movably on the bottom 62 with an XYZ stage 611. Thereby, when the workpiece | work W is arrange | positioned on the bottom part 62, it moves to the adhesive agent application position on the workpiece | work W, and can apply | coat an adhesive agent now. Further, the adhesive application work mechanism 61a of the present embodiment is operated using the operation lever 61b provided on the side surface side of the adhesive application work mechanism 61a on the upper surface of the bottom portion 62.

Next, the operation of the production apparatus 1 configured as described above will be described.
FIG. 9 is a process explanatory diagram for explaining the operation of the transport mechanism. FIG. 10A is a process explanatory diagram for explaining the operation of conveyance by the conveyance unit. FIG. 10B is a process explanatory diagram for explaining the operation of changing the transport direction by the transport unit. FIG.10 (c) is process explanatory drawing for demonstrating the operation | movement of direction change by a conveyance unit. Fig.11 (a) is process explanatory drawing for demonstrating the transfer operation | movement from the conveyance mechanism by a conveyance unit to a movable floor part. FIG.11 (b) is process explanatory drawing for demonstrating the transfer operation | movement from the conveyance mechanism by a conveyance unit to a movable floor part. FIG.11 (c) is process explanatory drawing for demonstrating the transfer operation | movement from the conveyance mechanism by a conveyance unit to a movable floor part.
In FIG. 10A, FIG. 10B, and FIG. 10C, illustration of the adhesive application work unit 6a is omitted for easy viewing of the drawings. In addition, in the adhesive application work unit 6a shown in FIGS. 11A, 11B, and 11C, the adhesive application work mechanism 61a is simplified.

First, the operation of carrying the adhesive application work unit 6a from the outside into the work chamber 3 will be described.
First, as shown in FIG. 9, the operator carries the adhesive application work unit 6a from the loading / unloading port 22a to the loading position Q1 near the loading / unloading port 22a, and inputs the conveyance information from the input unit 4b of the control unit 4 To do. In the present embodiment, as an example, after the adhesive application work unit 6a carried into the carry-in position Q1 is transported to the crossing region Q3 via the crossing region Q2, the direction is rotated 180 degrees in the crossing region Q3, The conveyance information that conveys to the movable floor 8d is input.

  In the following, in the belt-like region L1, the region between the loading / unloading port 22a and the intersecting region Q2 is the transport region M1, and in the belt-like region L2, the region between the intersecting region Q2 and the intersecting region Q3 is the transport region M2. In the belt-like region L3, a region between the intersection region Q3 and the unit storage opening 21d is referred to as a transport region M3.

  After the conveyance information is input, the control unit 4 drives the conveyance unit 241 in the conveyance region M1 with the drive direction K aligned with the X-axis positive direction as shown in FIG. 10A (see the arrow E1 in the drawing). As a result, as shown in FIG. 9, a driving force in the positive direction of the X-axis is urged from the transport unit 241 to the adhesive application work unit 6a that is transported onto each transport unit 241 at the transport position Q1. The coating operation unit 6a is transported toward the intersection area Q2.

  The control unit 4 keeps the driving direction K of the transport unit 241 in the intersecting region Q2 in the X-axis positive direction until the adhesive application work unit 6a reaches the intersecting region Q2 from the transport region M1.

  And the control part 4 will analyze the conveyance position of the adhesive application | coating operation | work unit 6a from the image of the camera 25, and if it detects that the adhesive application | coating operation | work unit 6a arrived in the cross area | region Q2, the conveyance in the cross | intersection area | region Q2 will be carried out. The unit 241 is stopped, and the adhesive application work unit 6a is stopped in the intersection area Q2.

  After the adhesive application unit 6a stops in the intersection area Q2, the control unit 4 rotates the rotation shaft 241d of the transport unit 241 in the intersection area Q2 as shown in FIG. Change K toward the positive direction of the Y-axis. Thereafter, as shown in FIG. 9, the control unit 4 rotates the horizontal shaft 241e of the transport unit 241 in the intersecting region Q2 in which the drive direction K is changed. As a result, the adhesive application work unit 6a is conveyed in the positive Y-axis direction (see the arrow E2 in the drawing) toward the intersection region Q3.

  The control unit 4 adjusts the driving direction K of the transport unit 241 in the transport area M2 and the intersection area Q3 to the Y axis positive direction until the adhesive application work unit 6a reaches the intersection area Q3 from the intersection area Q2. deep.

  And the control part 4 will analyze the conveyance position of the adhesive application | coating operation | work unit 6a from the image of the camera 25, and if it detects that the adhesive application | coating operation | work unit 6a arrived in the cross area | region Q3, it will convey in the cross area | region Q3. The unit 241 is stopped, and the adhesive application work unit 6a is stopped in the intersection area Q3.

Next, the control unit 4 rotates the direction of the adhesive application work unit 6a by 180 degrees.
That is, as shown in FIG. 10C, the control unit 4 sets the driving directions K of the transport units 241 at the four corners in the upper apex u in the state where the central transport unit 241 in the intersection region Q3 is stopped. Is changed to a counter-clockwise tangential direction in the figure. Then, the conveyance units 241 at the four corners in the intersection area Q3 are simultaneously driven, the adhesive application work unit 6a is rotated 180 degrees in the intersection area Q3, and the conveyance units 241 in the intersection area Q3 are stopped.

  Then, the control unit 4 determines from the image data of the camera 25 whether or not the direction of the adhesive application work unit 6a has been rotated by 180 degrees, and if it has not been rotated by 180 degrees, it is insufficient in the same manner as described above. Rotate only the rotation angle.

  After the 180-degree rotation in the direction of the adhesive application work unit 6a is completed in this way, the control unit 4 conveys the drive direction K of the conveyance unit 241 in the intersecting region Q3 in the X axis positive direction. Thereafter, as shown in FIGS. 9 and 11A, the control unit 4 drives the transport unit 241 in the intersection region Q3 in which the drive direction K is changed. Thereby, the adhesive application work unit 6a is conveyed in the X-axis positive direction (see the arrow E3 in the drawing) toward the unit storage port 21d.

  The controller 4 adjusts the driving direction K of the transport unit 241 in the transport area M3 to the X axis positive direction until the adhesive application work unit 6a reaches the area overlapping the movable floor 8d from the intersection area Q3. deep.

  And the control part 4 analyzes the conveyance position of the adhesive application work unit 6a from the image of the camera 25, and the movable floor part 8d above the movable floor part 8d where the adhesive application work unit 6a is lowered to the lower limit position P1. 9 and 11B, the transport unit 241 in the transport area M3 is stopped, and the adhesive application unit 6a overlaps the movable floor 8d. Stop in the region.

  At this time, in the conveyance area M3, the upper top u of the rotating body 241b of the conveyance unit 241 protrudes from the insertion circular hole 81 of the movable floor 8d to the upper surface of the movable floor 8d, so that the adhesive application work unit 6a. Is smoothly conveyed without touching the floor surface portion 84 because there is a gap D4 between the movable floor portion 8d and the upper surface of the floor surface portion 84.

Next, the control part 4 raises the movable floor part 8d from the lower limit position P1 to the upper limit position P2, as shown in FIG.11 (c). When the movable floor portion 8d is raised from the lower limit position P1 by the gap D4, the upper surface of the floor surface portion 84 of the movable floor portion 8d comes into contact with the lower surface of the bottom portion 62 of the adhesive application work unit 6a, and the adhesive application work unit 6a. Is transferred onto the floor portion 84. When the movable floor portion 8d is raised to the upper limit position P2, the adhesive application work unit 6a is carried into the work chamber 3 through the hole 71d.
This completes the delivery of the adhesive application unit 6a into the working chamber 3.

When the adhesive application work unit 6a carried into the movable floor 8d in the work chamber 3 is carried out from the loading / unloading port 22a, an operation opposite to that carried in is performed. Moreover, the movement between each movable floor part 8a, 8b, 8c, 8d can be performed similarly.
Further, not only the work unit 6 but also the work W placed on the pallet P can be carried in and out and moved between the movable floor portions 8.

  Next, an operation in the case where work is performed on the workpiece W using the production apparatus 1 will be described. In the following, the adhesive application work unit 6a is attached to the movable floor 8d, the other work unit 6 is attached to the movable floor 8a, and the pallet P on which a plurality of works W are placed is attached to the movable floor 8b. A case where the pallet P on which the work W that has been worked is placed is attached to the movable floor portion 8c will be described as an example. Moreover, after apply | coating an adhesive agent to the workpiece | work W, it shall convey to the work unit 6 on the movable floor part 8a, and shall perform another operation | work.

  First, the control unit 4 causes the work robot 33 to grip the workpiece W on the pallet P attached to the movable floor portion 8b, conveys the workpiece W to the adhesive application work unit 6a, and then operates the operation lever 61b. And the adhesive is applied to the workpiece W by the adhesive application work mechanism 61a. After that, the control unit 4 causes the work robot 33 to transfer the work W that has been coated with the adhesive to the work unit 6 on the movable floor 8a, and switches the work tool 332 as necessary. To do.

After all the scheduled work for the work W is completed, the control unit 4 causes the work robot 33 to place the work W on the pallet P on the movable floor 8c. Thereafter, the operator causes the workpiece W to be carried out from the arbitrary loading / unloading port 22 or the unit storage port 21 by the elevating mechanism 23 and the transport mechanism 24 and then sent to the next process.
In parallel with the work performed on the workpiece W described above, the work unit 6 or the workpiece W may be loaded from the loading / unloading port 22 and the unit storage port 21. In the production apparatus 1, work units 6 that perform the same work can be arranged at a plurality of locations.

  According to the production apparatus 1 of the present embodiment, the upper side of the rotating body 241b of the transport unit 241 provided in the belt-like region L1, the belt-like region L2, and the belt-like region L3 between each input / output port 22 and each movable floor portion 8. The work unit 6 can be transported by the transport mechanism 24 in a horizontal plane region where the tops u are aligned. For this reason, as described above, for example, the work unit 6 carried in through the loading / unloading port 22a can be moved to the movable floor 8d. Then, by raising the movable floor portion 8d to the position of the partition member 7, the work unit 6 can be carried into the work chamber 3 which is a space partitioned from the outside. That is, the work unit 6 can be easily moved into the work chamber 3 from the loading / unloading port 22.

In addition, since the work robot 33 in the work chamber 3 can carry the work W to the work unit 6 and operate the work unit 6, it is not necessary to provide the work robot 33 or the like for each work unit 6. Therefore, the work unit 6 can be simplified. Further, by simplifying the work unit 6, the work unit 6 can be reduced in size and weight, so that the work unit 6 can be easily replaced.
Moreover, since the entire production apparatus 1 can be miniaturized as the work unit 6 becomes smaller and lighter, the entire production apparatus 1 can be easily cleaned, and power consumption, equipment space, equipment cost, and clean room facilities are facilitated. Costs and running costs can be reduced.

  Further, the inside of the work chamber 3 is sealed by the cover 31, the casing 4 a of the control room, the partition member 7, the movable floor 8 provided with the work unit 6 and the pallet P, or the sealing means 233. Intrusion of dust into the work chamber 3 can be prevented.

  Further, since the transport units 241 constituting the transport mechanism 24 can independently change the driving directions K, the transport directions can be changed by changing the respective drive directions K of the transport units 241 in contact with the lower surface of the work unit 6. It can be changed in various directions.

  Further, the work unit 6 is operated by the transport unit 241 in which the upper apex u protrudes on the movable floor 8 through the insertion circular hole 81 of the movable floor 8 in a state where the movable floor 8 is lowered to the lower limit position P1 by the lifting mechanism 23. Can be transferred onto the movable floor portion 8, and the work unit 6 can be transferred onto the movable floor portion 8 by raising the movable floor portion 8 with the elevating mechanism 23. Further, the work unit 6 on the movable floor 8 can be transferred to the transport mechanism 24 by the reverse operation. Thereby, delivery of the work unit 6 can be performed smoothly.

Next, the production apparatus 1a of the 1st modification of the production apparatus 1 of 1st Embodiment which concerns on this invention is demonstrated.
FIG. 12 is a schematic plan view of a work preparation chamber in a first modification of the production apparatus according to the first embodiment of the present invention. In the description of the production apparatus 1a of the first modified example, the same parts as those of the production apparatus 1 are denoted by the same reference numerals and the description thereof is omitted.

In the production apparatus 1a of the present modified example, as shown in FIG. 12, a part of the transport mechanism 24a has both ends in the X-axis direction of the belt-like region L2 of the first embodiment between the belt-like region L1 and the side wall portion 2d. Two rows of transport units 241 are arranged in each, and the belt-like region L2 is formed from a staggered arrangement of seven rows in the X-axis direction between the movable floor portion 8a and the movable floor portion 8d. The widened portion of the belt-like region L2 is referred to as a region L4. The arrangement pitch of the transport units 241 in the region L4 is the same as that in the first embodiment.
In such a belt-like region L2, the work unit 6 can be transported in an oblique direction intersecting the X axis and the Y axis.

About this conveyance in the oblique direction, the adhesive application work unit 6a located at the position Q4 closest to the charging / discharging port 22a in the region where the belt-like region L1 and the region L4 intersect is transported to the movable floor 8d. An example will be described in which the part 8d is conveyed to a position Q5 adjacent to the X axis negative direction side.
For example, when the control unit 4 detects that the adhesive application work unit 6a has reached the position Q4, the transport unit 241 in the position Q4 is stopped, crosses the X axis at 45 degrees, and moves from the position Q4 to the position Q5. The driving direction K of the three rows of transport units 241 (this region is referred to as a region L5) in the extending direction is changed to an oblique right 45 ° direction (arrow E5). Then, by driving the transport unit 241, the adhesive application work unit 6a can be transported from the position Q4 to the position Q5.
For this reason, according to this production apparatus 1a, for example, when the work unit 6 is transported from the loading / unloading port 22a to the movable floor portion 8d, compared to the case of passing through the intersecting regions Q2 and Q3, the movable floor portion 8d can be used. It can be transported by a short route.

Next, the production apparatus 1b of the 2nd modification of the production apparatus 1 of 1st Embodiment which concerns on this invention is demonstrated.
FIG. 13 is a schematic perspective view of a transport unit in a second modification of the production apparatus according to the first embodiment of the present invention. In the description of the production apparatus 1b of the second modified example, the same components as those of the production apparatus 1 are denoted by the same reference numerals and description thereof is omitted.

The production apparatus 1b of the present modification is obtained by replacing the transport unit 241 of the first embodiment with a transport unit 242.
As shown in FIG. 13, the transport unit 242 includes an ultrasonic motor (rotation drive unit) 242b using an ultrasonic transducer, and a sphere (supported to rotate about three axes orthogonal to each other by the ultrasonic motor 242b). Rotating body) 242a.

In the transport unit 242, the sphere 242a can be rotated around three axes orthogonal to each other by the slight vibration of the ultrasonic motor 242b. Since the ultrasonic motor 242b has a simple configuration that does not require a rotating shaft or a bearing, the transport unit 242 can be simplified.
In FIG. 13, the sphere 242a is held by five ultrasonic motors 242b, but at least three ultrasonic motors 242b are sufficient.

Next, a production apparatus 1c according to a third modification of the production apparatus 1 according to the first embodiment of the present invention will be described.
FIG. 14A is a schematic plan view of a transfer mechanism in a third modification of the production apparatus according to the first embodiment of the present invention. FIG.14 (b) is a typical side view of the transfer mechanism in the 3rd modification of the production apparatus of 1st Embodiment which concerns on this invention. In the description of the production apparatus 1c of the third modified example, the same components as those of the production apparatus 1 are denoted by the same reference numerals and description thereof is omitted.

  The production apparatus 1c of the present modification is different from the first embodiment in the mechanism for transferring the work unit 6 between the transport mechanism 24 and the movable floor 8. That is, in the production apparatus 1c of the third modified example, as shown in FIGS. 14A and 14B, the transport unit 241 is not disposed in the region overlapping the movable floor 8 in the vertical direction, and In addition, the insertion circular hole 81 is not formed in the movable floor portion 8. Instead, a transfer mechanism C that transfers the work unit 6 between the transport mechanism 24 and the movable floor portion 8 is provided, and the work unit 6 and the workpiece W are transferred by the transfer mechanism C.

  The transfer mechanism C includes a chuck portion C1 that horizontally opens and closes the bottom 62 of the work unit 6 and the side surface of the pallet P of the work W, and a proximal end side of the chuck portion C1 that is fixed to the chuck portion C1. A chuck driving unit C2 that opens and closes C1 and moves up and down, and is provided in the vicinity of a region overlapping the movable floor 8 in the vertical direction along the longitudinal width direction of each belt-like region, and the chuck driving unit C2 extends along the guide unit. And a stage C3 to be moved.

The operation of the transfer mechanism C will be described as an example in which the pallet P is transferred from the movable floor portion 8 to the transport mechanism 24. First, after the pallet P is sandwiched between the chuck portion C1 and the chuck drive portion C2, The chuck part C1 is raised. In this state, the pallet P is moved from the movable floor 8 to the transport mechanism 24 by the stage C3. Then, the pallet P can be transferred from the movable floor portion 8 to the transport mechanism 24 by lowering the chuck portion C1 by the chuck drive portion C2 to release and hold the chuck portion C1.
By providing the transfer mechanism C, it is possible to smoothly transfer the work unit 6 between the transport mechanism 24 and the movable floor 8 by the transfer mechanism C.

[Second Embodiment]
Next, the production system 100 of 2nd Embodiment which concerns on this invention is demonstrated with reference to figures.
FIG. 15 is a schematic perspective view of a production system according to the second embodiment of the present invention. FIG. 16A is a schematic plan view of a work chamber of the production system according to the second embodiment of the present invention. FIG.16 (b) is the elements on larger scale of the vicinity of the input / output port connected in FIG.16 (a). FIG. 17 is a functional block diagram showing a connection relationship of each control unit of the production system according to the second embodiment of the present invention. In FIG. 16B, the adhesive application work mechanism 61a of the adhesive application work unit 6a is not shown for easy viewing.

  As shown in FIGS. 15 and 16A, the production system 100 is a system in which four production apparatuses 1 are adjacent to each other, and each of the adjacent production apparatuses 1 is communicated with an input / output port 22. In the production system 100 of the present embodiment, each production apparatus 1 is arranged adjacent to the other two in a rectangular shape in plan view.

  In the following, the production apparatuses 1 are arranged in the upper left of FIG. 16 and are referred to as production apparatuses 1A, 1B, 1C, and 1D counterclockwise in the figure. In addition, the respective configurations of the production apparatuses 1A, 1B, 1C, and 1D correspond to the respective production apparatuses 1A, 1B, 1C, and 1D, and each production apparatus 1A is added at the end of the code used when described in the first embodiment. 1B, 1C, and 1D are denoted by symbols with A, B, C, and D, which are alphabets at the end of the code.

  For convenience of direction reference, as shown in FIG. 16 (a), the intersection of the side wall 2aB and the side wall 2bB of the production apparatus 1B is set in the horizontal plane where the upper tops u of the production system 100 are aligned. An XY coordinate system with the origin O100 is defined. In this XY coordinate system, the X-axis direction is orthogonal to the side wall 2aB, the direction from the charging / discharging port 22aB to the charging / discharging port 22cB is positive, and the Y-axis direction is orthogonal to the side wall 2bB. The direction from the discharge port 22bB toward the input / discharge port 22dB is defined as a positive direction.

  In the production system 100, as shown in FIG. 16 (b), the distance in the Y-axis direction between the transport unit 241NA and the loading / unloading port 22bA arranged closest to the loading / unloading port 22bA in the band-shaped region L2A, and the band-shaped region L2B The distance in the Y-axis direction between the transport unit 241NB arranged closest to the loading / unloading port 22dB and the loading / unloading port 22dB is a distance D3 (where D3 <(D1-D22 / 2) / 2, that is, D1> (D22 + 2 · D3)). As a result, the work unit 6 and the pallet P having a bottom surface with a length D1 on one side are located on the upper side of the transport unit 241 in a horizontal plane even at a position straddling between the production apparatuses 1A and 1B in the vicinity of the input / output ports 22bA and 22bB. It abuts on the top u at three or more points.

  Further, in the production system 100, as shown in FIG. 16A, the input / output port 22cB and the input / output port 22aC, the input / output port 22dC and the input / output port 22bD, and the input / output port 22aD and the input / output port 22cA communicate with each other. Has been. The positional relationship of the transport unit 241 in the vicinity of each charging / discharging port 22 is the same as the positional relationship of the transporting unit 241 in the vicinity of the charging / discharging port 22bA and the charging / discharging port 22dB described above.

  In the production system 100, the control units 4A, 4B, 4C, and 4D of the production apparatuses 1A, 1B, 1C, and 1D are electrically connected to each other so that conveyance information and the like can be communicated with each other. In the present embodiment, as shown in FIG. 17, the control unit 4A of the production apparatus 1A controls each component in the production apparatus 1A based on the conveyance information input from the input unit 4bA, and other production apparatuses The conveyance information is sent to the control units 4B, 4C, and 4D of 1B, 1C, and 1D.

Next, the operation of the production system 100 configured as described above will be described.
Below, the case where the adhesive agent coating work unit 6a is moved between the adjacent production apparatuses 1 is demonstrated.

First, the operator controls conveyance information that the adhesive application work unit 6a is conveyed from the input unit 4bA of the production apparatus 1A to the movable floor 8bA of the production apparatus 1B to the movable floor 8dA of the production apparatus 1A. Input to part 4A. The control unit 4A sends the input conveyance information to the control unit 4B.
Here, the conveyance from the movable floor portion 8bB to the loading / unloading port 22dB and the conveyance from the loading / unloading port 22bA to the movable floor portion 8dA are the same as in the first embodiment, and are omitted, and the adhesive application work unit 6a produces them. The conveyance at the position straddling the apparatus 1B and the production apparatus 1A will be described.

  The control unit 4A sets the driving direction K of the transport unit 241 provided in the vicinity of the loading / unloading port 22bA in the belt-like region L2A until the adhesive application work unit 6a reaches the loading / unloading port 22bA. Keep it together.

  Then, the control unit 4A analyzes the transport position of the adhesive application work unit 6a from the image of the camera 25, and the adhesive application work unit 6a transported by the transport unit 241 in the belt-like area L2B is in the belt-like area L2A. When the arrival is detected, the transport unit 241 provided in the vicinity of the loading / unloading port 22bA in the belt-like region L2A is driven. Thereby, the adhesive application work unit 6a is smoothly transferred from the transport mechanism 24B to the transport mechanism 24A.

In the above description of the operation, the work unit 6 is transported between the two production apparatuses 1A and 1B. However, the work unit 6 is used between all the production apparatuses 1A, 1B, 1C, and 1D constituting the production system 100. May be conveyed.
In the above description of the operation, the case where the work unit 6 is transported between the production apparatuses 1A, 1B, 1C, and 1D has been described. However, the work W can also be transported.

According to the production system 100, the work unit 6 and the workpiece W can be transported through the input / output ports 22 of the adjacent production apparatuses 1. Therefore, for example, the work W that has been completed in the production apparatus 1A can be transported to another adjacent production apparatus 1B, and another work can be performed on the work W.
Further, in the present embodiment, the four production apparatuses 1 are adjacent to each other in a rectangular shape in plan view to constitute the production system 100. However, if the input / output port 22 is communicated and the control unit 4 can communicate, for example, each production apparatus It is also possible to configure a production system in which 1 is adjacent in an L shape in plan view, a production system in which each production apparatus 1 is adjacent along a line, or the like. Furthermore, it is possible to add and reduce the production apparatuses 1 constituting the production system 100.
Accordingly, various work can be performed on the workpiece W, and a flexible production system can be configured that can cope with a variety of layout changes and addition and reduction of work processes.

  In addition, since it is possible to work in environments such as different humidity and atmosphere for each production apparatus 1, work processes that require various environments can be executed by one production system 100.

  In the present embodiment, the control unit 4A controls the control units 4B, 4C, and 4D. However, the control unit 4A, 4B, 4C, and 4D are controlled as long as the control is controlled. For example, a control system different from the control units 4A, 4B, 4C, and 4D may be electrically connected to the production system 100, and the control units 4A, 4B, 4C, and 4D may be controlled by the control system. .

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the meaning of this invention are included.

In each of the above embodiments, the arrangement of the transport units 241 in the work preparation chamber 2 is staggered, but the bottom 62 of the work unit 6 and the lower surface side of the pallet P are placed at three locations by the upper top u in the horizontal plane. If it can contact | abut above, there will be no restriction | limiting. For example, the belt-like regions L1, L2, and L3 may be arranged in a square lattice pattern having equidistant arrangement pitches in the short width direction and the long width direction.
Further, the arrangement location of the transport unit 241 is not limited to the inside of each of the belt-like regions L1, L2, and L3, and may be arranged as a range in plan view in the work preparation chamber 2.

  Further, in each of the above embodiments, the size of the bottom 62 and the pallet P of the work unit 6 is common to all the work units 6 and the workpieces W. Absent.

  Moreover, in each said embodiment, when the work unit 6 was carried in, the control part 4 controlled the conveyance mechanism 24 based on the conveyance information which the operator input from the input part 4b, but the control part 4 acquires conveyance information. It is not limited to this if possible. For example, a conveyance information storage unit in which conveyance information such as an IC tag and a barcode is stored in advance is provided in the bottom 62 and the pallet P of the work unit 6, and conveyance information can be acquired from the conveyance information storage unit in the work preparation chamber 2. You may provide a conveyance information acquisition part in the work preparation room 2, etc.

  In each of the above embodiments, the work robot 33 is an articulated robot having a multi-joint type work arm 331. However, the work tool 332 is detachable, and the attached work tool 332 is mounted on the movable floor portion 8. If it can move between the work unit 6 and the workpiece | work W provided in this, it will not restrict to this. For example, the type of the work robot 33 may be an orthogonal robot or a SCARA robot driven in the XYZ directions, and the number of the work robots 33 may be plural. The installation location of the work robot 33 is not limited to the partition member 7 and is not limited as long as it is in the work chamber 3.

In each of the above embodiments, the clean unit 31a is provided only on the cover 31 of the work chamber 3. However, a clean unit may be provided in the work preparation chamber 2 separately from this. In this case, it is preferable to provide a door for shutting off the outside and the work preparation chamber 2 in the loading / unloading port 22 and the unit storage port 21.
Further, by providing exhaust means below the work chamber 3, clean air is supplied from above the work chamber 3 by the clean unit 31a, and air below the work chamber 3 is exhausted outside the apparatus by the exhaust means. The air in the work chamber 3 may be cleaned.

It is a typical perspective view showing the production apparatus of a 1st embodiment concerning the present invention. 1 is a schematic plan view showing a production apparatus according to a first embodiment of the present invention. It is a functional block diagram which shows the function structure containing the control part of the production apparatus of 1st Embodiment which concerns on this invention. FIG. 4A is an exploded perspective view of the movable floor portion and the lifting platform. FIG. 4B is a schematic cross-sectional view of the work preparation chamber. FIG. 5A is a schematic plan view of the work preparation chamber. FIG.5 (b) is the elements on larger scale of the injection | throwing-out discharge port vicinity in Fig.5 (a). It is a front view of a conveyance unit. It is a side view of a conveyance unit. It is a typical perspective view of an example of a work unit. It is process drawing for demonstrating operation | movement of a conveyance mechanism. FIG. 10A is a process explanatory diagram for explaining the operation of conveyance by the conveyance unit. FIG. 10B is a process explanatory diagram for explaining the operation of changing the transport direction by the transport unit. FIG.10 (c) is process explanatory drawing for demonstrating the operation | movement of direction change by a conveyance unit. Fig.11 (a) is process explanatory drawing for demonstrating the transfer operation | movement from the conveyance mechanism by a conveyance unit to a movable floor part. FIG.11 (b) is process explanatory drawing for demonstrating the transfer operation | movement from the conveyance mechanism by a conveyance unit to a movable floor part. FIG.11 (c) is process explanatory drawing for demonstrating the transfer operation | movement from the conveyance mechanism by a conveyance unit to a movable floor part. It is a typical top view of the work preparation room in the 1st modification of the production apparatus of a 1st embodiment concerning the present invention. FIG. 13 is a schematic perspective view of a transport unit in a second modification of the production apparatus according to the first embodiment of the present invention. FIG. 14A is a schematic plan view of a transfer mechanism in a third modification of the production apparatus according to the first embodiment of the present invention. FIG.14 (b) is a typical side view of the transfer mechanism in the 3rd modification of the production apparatus of 1st Embodiment which concerns on this invention. It is a typical perspective view of the production system of a 2nd embodiment concerning the present invention. FIG. 16A is a schematic plan view of a work chamber of the production system according to one embodiment of the present invention. FIG.16 (b) is the elements on larger scale of the vicinity of the input / output port connected in FIG.16 (a). It is a functional block diagram which shows the control relationship of each control part of the production system of 2nd Embodiment which concerns on this invention.

Explanation of symbols

1, 1a, 1b, 1c, 1A, 1B, 1C, 1D production equipment
2 Work preparation room
2a, 2aB, 2b, 2bB, 2c, 2d side wall
3 Working room
5 Device body
6 work units
6a Adhesive application work unit (work unit)
7 Bulkhead member
8, 8a, 8b, 8bB, 8c, 8d, 8dA Movable floor
81 Insertion hole (opening of movable floor)
C Transfer mechanism
P palette
W Work
22, 22a, 22aB, 22aC, 22aD, 22b, 22bA, 22bB, 22bD, 22c, 22cA, 22cB, 22d, 22dB, 22dC
23 Lifting mechanism
24, 24a, 24A, 24B Transport mechanism 100 Production system 241, 241NA, 241NB, 242 Transport unit 241a First actuator (rotation drive unit)
241b Rotating body 241c Second actuator (rotation drive unit)
242a Sphere (Rotating body)
242b Ultrasonic motor (rotary drive)

Claims (8)

A production device that performs work on a workpiece,
A box-shaped device body;
A flat partition member that partitions the apparatus main body into a lower work preparation chamber and an upper work chamber;
A movable floor that can be raised and lowered from the inside of the work preparation chamber to the position of the partition member;
An elevating mechanism provided in the work preparation chamber and elevating and lowering the movable floor portion;
A work unit that is detachably attached to the movable floor and performs the work;
In order to put the work unit into and out of the work preparation chamber, a loading / unloading port provided in a side wall part that partitions the work preparation chamber from the outside,
In the work preparation chamber, a driving force is applied to the lower surface of the work unit within a plane region between the input / output port and the movable floor lowered by the lifting mechanism, so that the work unit is at least A transport mechanism for transporting in two directions;
A production apparatus comprising: The production apparatus according to claim 1,
The transport mechanism biases the driving force to the working unit, and a plurality of transport units capable of independently changing the biasing direction are provided on the lower surface of the work unit in the plane area. Being provided at intervals of contact,
Production equipment characterized by. The production apparatus according to claim 2,
The transport unit includes a rotating body that is rotatably supported at least around a vertical axis and a horizontal axis, and a rotation driving unit that rotates the rotating body.
Production equipment characterized by. The production apparatus according to claim 3,
The rotating body is a sphere that is rotatably supported around three axes orthogonal to each other.
The rotational drive unit is an ultrasonic motor using an ultrasonic transducer;
Production equipment characterized by. The production apparatus according to any one of claims 2 to 4,
A part of the transport unit is provided in a region overlapping the movable floor portion in the vertical direction,
The movable floor is provided with an opening that allows a part of the transport unit to be inserted from below,
The elevating mechanism can lower the movable floor portion to a position where the upper surface of the movable floor portion is lower than the upper end portion of a part of the transport unit;
Production equipment characterized by. The production apparatus according to any one of claims 1 to 5,
A transfer mechanism for transferring the work unit between the transport mechanism and the movable floor portion;
Production equipment characterized by. The production apparatus according to any one of claims 1 to 6,
The lower surface of the work unit has a size common to all the work units;
Production equipment characterized by.   A plurality of production apparatuses according to any one of claims 1 to 7 are adjacent to each other, and each of the production apparatuses adjacent to each other is communicated with each other at the input / output port, whereby each of the plurality of production apparatuses A production system characterized in that the work unit can be transported between the plurality of production apparatuses by a transport mechanism.

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