JP6797590B2 - Work machine - Google Patents

Description

The present invention relates to a work machine in which a work robot driven by non-contact power supply from a fixed portion is mounted on a movable portion.

In order to promote automation and labor saving in factories and business establishments, the introduction of work machines equipped with work robots is being promoted. Working robots include assembly robots that assemble products such as electronic devices and automobiles, processing robots that process various members, and transfer robots that transport parts and products. A non-contact power supply system may be adopted as a means for supplying power to a moving work robot. Technical examples of this type of working robot are disclosed in Patent Documents 1 and 2.

The production system of Patent Document 1 includes a work supply unit, a work collection unit, a traveling transfer robot, a first work facility, and a second work facility. The traveling transfer robot carries the work of the work supply unit into the first and second work facilities, and also carries out the finished work from the first and second work facilities to the work collection unit. Then, while the work processing work is being performed in the first work facility, the work is carried in and out in the second work facility, and while the work processing work is being performed in the second work facility, the first work facility is used. It is characterized by carrying out and carrying in. According to this, it is said that the effect of shortening the cycle time of the entire system can be obtained.

Further, in the work machine of Patent Document 2, the work head moves along the guide beam, the guide beam is provided with a power supply module for non-contact power supply, and the work head is provided with a power receiving module. According to this, since non-contact power can be supplied to the work head, troubles such as wear and disconnection do not occur.

Japanese Unexamined Patent Publication No. 2011-73068 Japanese Unexamined Patent Publication No. 2014-7200

By the way, in response to the diversification of consumer needs in recent years, the tendency of high-mix low-volume production has progressed, and the work contents required for work robots have become complicated. For example, in an equipment assembly robot, the type of parts used for assembly changes each time the type of equipment to be produced is switched. At this time, the setup change work for preparing newly required parts has been conventionally performed by an operator. In addition, as the types of parts used increase, it becomes difficult to serve all the parts around the assembly robot. For this reason, the assembling robot is given a function of moving parts to be picked up, but a setup change work for forming a moving route has occurred.

The problem of requiring setup change work can also occur in processing robots and transfer robots. For example, as the types of cutting tools used by machining robots for machining increase, the work of preparing a new cutting tool and the work of securing a serving space for the cutting tool occur. Further, for example, when the transfer source or transfer destination of the transfer robot is added or abolished, the setup change work of the transfer route is required each time. The burden of such setup change work is not considered in Patent Documents 1 and 2.

The present invention has been made in view of the above-mentioned problems of the background technology, and has solved the problem of providing a work machine that can contribute to labor saving by reducing the setup change work when changing the work content of the work robot. It is an issue to be done.

The work machine of the present invention that solves the above problems is movable in a plurality of fixed portions each having a power supply module that supplies electric power in a non-contact manner, or in a moving direction set in the plurality of fixed portions . of a movable portion having a power receiving module capable of receiving the power the arranged opposite to the power supply module without contact, it is mounted on the movable part, the work given the power receiving module wherein is driven by power received A work machine including a work robot to perform, wherein the plurality of fixing portions include a laid first fixing portion and a layable second fixing portion, and the work robot is a predetermined work robot . In addition to the above work, it is possible to add the second fixed portion on the extension line in the moving direction set for the first fixed portion, and the movable portion can be attached from the first fixed portion. It can be moved to the second fixed portion that has been added.

According to the work machine of the present invention, the work robot can add a second fixed portion next to the first fixed portion, and the movable portion moves from the first fixed portion to the added second fixed portion. it can. Therefore, when changing the work of predetermined work performed by the work robot can be expanded automatically by adding working movement range of the movable portion and the working robot, to reduce the setup change work, contributing to labor saving it can.

It is a figure which showed the conceptual structure of the work machine of embodiment. It is a front view seen from the front in the moving direction which shows typically the structural example of the work machine of embodiment. It is a top view which showed the situation which the work machine of embodiment carries out a predetermined assembly work. It is a top view which showed the situation which the work robot takes out a fixed part from a storage stand when the fixed part is expanded in the setup change work. It is a top view which showed the situation which the work robot attaches a fixed part after the movable part conveys a fixed part together with a work robot. It is a top view which showed the situation after completion of expansion work of a fixed part.

(1. Configuration of the work machine 1 of the embodiment)
The working machine 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 6. FIG. 1 is a diagram showing a conceptual configuration of the work machine 1 of the embodiment. The work machine 1 is composed of a plurality of fixed portions 2, a movable portion 4, and a work robot 6. As shown in FIG. 1, the plurality of fixing portions 2 are laid side by side in a specific direction (left-right direction on the paper surface of FIG. 1). The specific direction coincides with the moving direction of the movable portion 4. New fixed portions 2 can be added side by side at one end of a plurality of fixed portions 2 laid side by side. The movable portion 4 is mounted on the fixed portion 2 and can move in the moving direction set in the fixed portion 2. The work robot 6 is mounted on the movable portion 4.

The fixing portion 2 includes a first connector 31, a second connector 32, a power supply line 33, a power supply circuit 34, and a power supply element 35 that constitute the power supply module 3. The first connector 31 is arranged on one end surface in the moving direction set in the fixed portion 2, and the second connector 32 is arranged on the other end surface in the moving direction of the fixed portion 2. The power line 33 connects between the first connector 31 and the second connector 32. Moreover, the power supply line 33 is branched and connected to the power supply circuit 34. When the two fixing portions 2 are laid side by side, the first connector 31 of one fixing portion 2 and the second connector 32 of the other fixing portion 2 are automatically connected. Therefore, when the power supply device 39 is connected to the first connector 31 or the second connector 32 of the fixed portions 2 at the ends laid side by side, power is supplied to the power supply circuits 34 of all the fixed portions 2.

A power feeding element 35 is connected to the power feeding circuit 34. As the power feeding element 35, a power feeding coil that performs non-contact power feeding by an electromagnetic coupling method can be exemplified. The power supply circuit 34 transforms the power supply voltage to supply power to the power supply element 35. As the power feeding circuit 34, a power feeding board including a bridge connection of four semiconductor elements and transforming a DC power supply voltage into an AC voltage having a predetermined frequency can be exemplified. The feeding circuit 34 may include a resonance element such as a resonance capacitor that constitutes a resonance circuit in combination with the feeding element 35.

The movable portion 4 has two power receiving elements 51 and a power receiving circuit 52 constituting the power receiving module 5. The two power receiving elements 51 are arranged side by side while being separated from each other in the moving direction of the bottom surface of the movable portion 4. The size and arrangement of the two power receiving elements 51 are determined so that at least one of them can always face the power feeding element 35 and receive non-contact power. The two power receiving elements 51 are connected in parallel to the power receiving circuit 52. As the power receiving element 51, a power receiving coil that receives non-contact power by an electromagnetic coupling method can be exemplified. The power receiving circuit 52 transforms the electric power received by the power receiving element 51 to supply power to the electric load on the movable portion 4. As the power receiving circuit 52, a power receiving board in which a rectifying circuit composed of a bridge connection of four rectifying elements and a voltage adjusting circuit for adjusting the magnitude of the rectified DC voltage can be exemplified can be exemplified. The power receiving circuit 52 may include a resonance element such as a resonance capacitor that constitutes a resonance circuit in combination with the power receiving element 51.

The structural part of the work machine 1 will be described in more detail. FIG. 2 is a front view seen from the front in the moving direction schematically showing a structural example of the work machine 1 of the embodiment. As shown, the fixing portion 2 has a bottom portion 21 and two side surface portions 22 as structural members in addition to the power feeding module 3. The two side surface portions 22 stand up from both edges of the bottom portion 21 in the width direction. Therefore, the fixing portion 2 is formed in a concave shape that opens upward when viewed from the front. The feeding element 35 is arranged near the upper surface of the bottom portion 21, and the feeding circuit 34 is arranged below the feeding element 35. A track portion 23 is formed on the upper portion of the two side surface portions 22 to prevent the wheels 44 from falling off while allowing the wheels 44 to move while traveling.

The movable portion 4 is mounted on the fixed portion 2 and is movable in the moving direction (in the front and back directions of the paper surface of FIG. 2). The lower portion of the movable portion 4 is embedded in the concave shape of the fixed portion 2. The width dimension of the upper part of the movable portion 4 is larger than the width dimension of the lower part, and is about the same as the width dimension of the fixed portion 2. The power receiving element 51 of the power receiving module 5 is arranged on the bottom surface 41 of the movable portion 4, and the power receiving circuit 52 is arranged above the power receiving element 51. The power receiving element 51 is arranged so as to face the power feeding element 35 of the fixed portion 2 with a slight distance from each other, enabling efficient non-contact power feeding.

In addition to the power receiving module 5, the movable unit 4 includes an axle 43, wheels 44, a moving drive source 45, and a movement control unit 46. A plurality of axles 43 are formed, extend in the width direction, and are rotatably supported. Wheels 44 are provided at both ends of each axle 43. The wheel 44 rolls on the track portion 23 of the fixed portion 2. The mobile drive source 45 rotationally drives at least one axle 43. Examples of the mobile drive source 45 include, but are not limited to, an electric motor capable of forward rotation and reverse rotation. The movement control unit 46 controls the rotation direction and rotation speed of the axle 43 and the wheels 44 by controlling the movement drive source 45, and finally controls the movement and stop of the movable unit 4. The mobile drive source 45 and the mobile control unit 46 are electric loads and are supplied with power from the power receiving circuit 52. The movable portion 4 preferably has a sensor that detects a position on the fixed portion 2.

The work robot 6 mounted on the movable unit 4 has a base unit 61, a rotating unit 62, an arm unit 63, a hand unit 64, and a work control unit 66. The base portion 61 is fixed to the upper surface of the movable portion 4. The rotating portion 62 is rotatably supported above the base portion 61. The arm portion 63 projects laterally from the rotating portion 62. The arm portion 63 is composed of a combination of a plurality of members, and is expandable and contractible and can be bent in the middle. The hand portion 64 is rotatably provided at the tip of the arm portion 63. The hand unit 64 has a plurality of fingers 65 that open and close, and grips, changes the posture, and releases the parts.

The rotating portion 62, the arm portion 63, the hand portion 64, and the plurality of fingers 65 are driven by a plurality of electric actuators (not shown). The work control unit 66 controls the operation of a predetermined work by cooperatively controlling a plurality of electric actuators. The plurality of electric actuators and the work control unit 66 are electric loads and are supplied with power from the power receiving circuit 52. Although detailed description is omitted, the work robot 6 has a sensor that detects the size and shape of the part, the separation distance between the part and the finger 65, and the like.

The procedure of the predetermined work performed by the work robot 6 and the procedure of the movement of the movable unit 4 accompanying the work are transmitted and stored in advance from the upper control unit in the drawing to the work control unit 66 and the movement control unit 46, or are stored. , Is sequentially commanded from the upper control unit. The stored work and movement procedures, or sequential commands, are transmitted from the host control unit to the work control unit 66 and the movement control unit 46, for example, by a wireless communication device (not shown).

In addition to the predetermined work, the work robot 6 is capable of additional work of adding a second fixed portion 2 that can be laid on an extension line in the moving direction set in the laid first fixed portion 2. There is. The procedure of the expansion work is also transmitted and stored in advance, or is instructed sequentially. The movable portion 4 is movable from the first fixed portion 2 to the second fixed portion 2 added.

(2. Operation and operation of the work machine 1 of the embodiment)
Next, the operation and operation of the work machine 1 of the embodiment of the present invention configured as described above will be described by taking the case where the work robot 6 is an assembly robot as an example. FIG. 3 is a plan view showing a situation in which the work machine 1 of the embodiment carries out a predetermined assembly work. Under the situation shown in FIG. 3, the five fixing portions 2 are laid side by side in the moving direction. In the following description, when the fixed portion 2 is specified, it is referred to by adding a number counted from the right side of FIG. For example, in FIG. 3, the movable portion 4 is located above the second fixed portion 2. The track portions 23 of the five fixed portions 2 are connected in a straight line, and the movable portion 4 can move beyond the boundary of the fixed portions 2. The length of the movable portion 4 in the moving direction is substantially equal to the length of the fixed portion 2 in the moving direction.

A storage table 77 and a first to fourth serving table 71 to 74 are laid from right to left on one side surface side (lower side of FIG. 3) of the fixing portions 2 laid side by side. The length of the storage table 77 and the first to fourth serving tables 71 to 74 in the moving direction is slightly smaller than that of the fixed portion 2. The storage table 77 is laid facing the first fixed portion 2, and the first to fourth serving tables 71 to 74 are laid facing the second to fifth fixed portions 2, respectively.

A plurality of small rectangular first parts P1 are served on the first serving table 71. Similarly, a plurality of elongated second parts P2 are served on the second serving table 72, and a plurality of circular third parts P3 are served on the third serving table 73, and the fourth serving table 74 is served. Is served with a plurality of square fourth parts P4. Further, two fixing portions 2A and 2B for expansion are placed and stored on the storage table 77. The fixing portions 2A and 2B for expansion are the same as the fixing portions 2 laid side by side. The storage table 77 is an example of a storage location for the fixed portions 2A and 2B.

An assembly table 78 and a carry-out conveyor 79 are laid on the other side surface side (upper side in FIG. 3) of the fixed portions 2 laid side by side. The assembly table 78 has a length in the moving direction larger than that of the two fixed portions 2, and is laid facing the second to fifth fixed portions 2. The work robot 6 performs the work of assembling the product A on the assembly table 78. The carry-out conveyor 79 is laid facing the first fixed portion 2 and extends to the right.

Product A consists of four first parts P1 and one second to fourth parts P2 to P4. The work robot 6 collects the first to fourth parts P1 to P4 from the first to fourth serving tables 71 to 74 and carries them to the assembly table 78 for assembly work. Here, since the length of the arm portion 63 is limited, the work robot 6 needs to move during the assembly work. Therefore, the assembly work of the work robot 6 and the movement of the movable portion 4 are controlled in cooperation with each other. The work robot 6 transfers the product A assembled on the assembly table 78 to the carry-out conveyor 79. Product A is carried out to the right by the carry-out conveyor 79.

When the assembly of the product A is completed and the assembly of the product B of another type is started, in other words, when the work content of the work robot 6 is changed, a setup change work may be required. For example, when a new fifth component P5 is used for the product B, it is necessary to serve the fifth component P5 in the setup change work. Further, in order for the work robot 6 to collect the fifth component P5, it is necessary to expand the fixing portion 2A. The serving work of the fifth component P5 is performed by an operator, and the expansion work of the fixing portion 2A is automatically performed by the work robot 6. FIG. 4 is a plan view showing a situation in which the work robot 6 takes out the fixed portion 2A from the storage table 77 when the fixed portion 2A is expanded in the setup change work.

As shown in FIG. 4, the working robot 6 transfers the final product A to the unloading conveyor 79. Then, the worker lays the fifth serving table 75, which serves a plurality of large rectangular fifth parts P5, adjacent to the moving direction of the fourth serving table 74. On the other hand, the movable portion 4 moves to the first fixed portion 2, and the working robot 6 extends the arm portion 63 above the storage table 77. As a result, the working robot 6 can grasp and take out the fixing portion 2A for expansion by the finger 65 of the hand portion 64. Next, the movable portion 4 moves to the fifth fixed portion 2 and conveys the fixed portion 2A together with the working robot 6.

FIG. 5 is a plan view showing a situation in which the working robot 6 attaches the fixed portion 2A after the movable portion 4 conveys the fixed portion 2A together with the working robot 6. As shown in the figure, the work robot 6 controls the posture of the extension fixing portion 2A on the fifth fixing portion 2, and the extension fixing portion 2 is on the extension line in the moving direction of the fifth fixing portion 2. Install 2A. As a result, the first connector 31 and the second connector 32 are connected between the fifth fixed portion 2 and the additional fixed portion 2A, and the power supply for the additional fixed portion 2A is secured. Further, the track portion 23 of the fixed portion 2A for expansion is connected to the track portion 23 of the fifth fixed portion 2, so that the movement route of the movable portion 4 is established. This completes the expansion work of the fixed portion 2A.

In this way, the joint work of the work robot 6 and the movable portion 4 facilitates the expansion work of the fixed portion 2A. FIG. 6 is a plan view showing the situation after the completion of the expansion work of the fixing portion 2A. When the expansion work is completed, the fixing portion 2A for expansion becomes the sixth fixing portion 2. Then, the movable portion 4 can be moved to the fixed portion 2A for expansion. The work robot 6 can collect all of the first to fifth parts P1 to P5, and can assemble the product B. As described above, since the work for adding the fixing portion 2A is automatically performed by the work robot 6, the setup change work is reduced.

Further, the work robot 6 can also attach the extension fixing portion 2B on the extension line in the moving direction of the attached extension fixing portion 2A. In the simplest configuration, it is sufficient that there is one fixed portion 2 in the initial state, and a desired number of fixed portions 2 can be sequentially added. On the contrary, the work robot 6 can also perform the removal work of removing the fixed portion 2A at one end that is no longer needed. In the removal work, the work robot 6 performs substantially the reverse operation of the expansion work.

That is, from the situation of FIG. 6, the movable portion 4 first moves to the fifth fixed portion 2. Next, the work robot 6 removes the fixing portion 2A at one end. Next, the movable portion 4 conveys the fixed portion 2A removed together with the work robot 6 to the first fixed portion 2. Next, the work robot 6 returns the removed fixed portion 2A to the storage table 77. In this way, the work of removing the fixed portion 2A is smoothly performed by the joint work of the working robot 6 and the movable portion 4.

(3. Aspects and effects of the work machine 1 of the embodiment)
The work machine 1 of the embodiment is movable in a movement direction set by a plurality of fixed portions 2 having a power supply module 3 for supplying electric power in a non-contact manner and a plurality of fixed portions 2, and faces the power supply module 3. A movable portion 4 having a power receiving module 5 that is arranged and receives electric power in a non-contact manner, and a working robot 6 mounted on the movable portion 4 and driven by the electric power received by the electric power receiving module 5 to perform a predetermined work are provided. In the work machine 1, the plurality of fixing portions 2 include a first fixing portion 2 laid and a second fixing portion 2A that can be laid, and the working robot 6 is attached to the first fixing portion 2. It is possible to add a second fixed portion 2A on the extension line in the set moving direction, and the movable portion 4 can be moved from the first fixed portion 2 to the added second fixed portion 2A. is there.

According to this, the work robot 6 can add a second fixed portion 2A next to the first fixed portion 2, and the movable portion 4 is a second fixed portion 2A added from the first fixed portion 2. Can be moved to. In addition, the work of adding the fixing portions 2A and 2B can be repeated. Therefore, when the work content of the work robot 6 is changed, the moving range of the movable portion 4 and the work robot 6 can be automatically expanded, the setup change work can be reduced, and labor saving can be contributed.

Further, in the expansion work, the work robot 6 takes out the second fixed portion 2A from the storage table 77 (storage place), the movable portion 4 conveys the second fixed portion 2A together with the work robot 6, and the work robot 6 is the second. Attach the fixing part 2A of 2. According to this, the expansion work of the fixed portion 2A is smoothly performed by the joint work of the work robot 6 and the movable portion 4.

Further, the plurality of fixing portions include a laid third fixing portion 2 and a fourth fixing portion 2A laid at one end of the third fixing portion 2, and are movable to the third fixing portion 2. When the part 4 is moving, the work robot 6 can perform a removal work for removing the fourth fixed part 2A. According to this, when the work content of the work robot 6 is changed, the moving range of the movable portion 4 and the work robot 6 can be automatically reduced, the setup change work can be reduced, and labor saving can be contributed. In addition, the empty space secured by the removal work can be effectively used.

Further, in the removal work, the work robot 6 removes the fourth fixed portion 2A, the movable portion 4 conveys the fourth fixed portion 2A together with the work robot 6, and the work robot 6 stores the fourth fixed portion 2A as a storage table. Return to 77 (storage location). According to this, the work of removing the fixed portion 2A is smoothly performed by the joint work of the working robot 6 and the movable portion 4.

Further, the fixed portion 2 has a track portion 23 that extends in the moving direction and enables the movable portion 4 to move. According to this, since the movement route is established by connecting the track portions 23 of the plurality of fixed portions 2, the moving operation of the movable portion 4 is stable.

Further, the movable portion 4 has a mobile drive source 45 driven by the electric power received by the power receiving module 5. According to this, the mobile drive source 45 that drives the movement of the movable portion 4 can be driven in addition to the work robot 6 by the non-contact power supply between the power supply module 3 and the power receiving module 5.

(4. Application and modification of the embodiment)
The work robot 6 may perform the work of laying the first to fifth serving tables 71 to 75 and the work of replenishing the first to fifth parts P1 to P5. Further, various non-contact power feeding methods can be appropriately applied or modified for the non-contact power feeding between the power feeding module 3 and the power receiving module 5. For example, the number of power receiving elements 51 included in the movable portion 4 is not limited to two, and may be only one or three or more. The present invention has various other applications and modifications.

The work machine 1 of the present invention is not limited to the configuration in which the work robot 6 described in the embodiment is an assembly robot, and can also be used in a configuration in which the work robot is a processing robot or a transfer robot.

1: Work machine 2, 2A, 2B: Fixed part 23: Track part 3: Power supply module 4: Moving part 45: Mobile drive source 5: Power receiving module 6: Work robot 77: Storage stand (storage place)

Claims (6)

Multiple fixed parts, each with a power supply module that supplies power in a non-contact manner,
A movable unit having a power receiving module that can move in a moving direction set in the plurality of fixed parts and is arranged to face any of the power feeding modules and can receive the power in a non-contact manner.
A work machine equipped with a work robot mounted on the movable portion and driven by the electric power received by the power receiving module to perform a predetermined work.
The plurality of fixing portions include a first fixing portion that has been laid and a second fixing portion that can be laid.
In addition to the predetermined work, the work robot can perform an additional work of adding the second fixed portion on an extension line in the moving direction set for the first fixed portion.
The movable portion is a work machine that can be moved from the first fixed portion to the second fixed portion added. In the expansion work
The working robot takes out the second fixed portion from the storage table laid on the side of one side surface of the first fixed portion.
The movable part carries the second fixed portion together with the working robot,
The working robot, attaching said second fixed portion,
The work machine according to claim 1. The plurality of fixing portions include a third fixing portion laid and a fourth fixing portion laid at one end of the third fixing portion.
In dismantling to remove the previous SL fourth fixed portion,
When the movable portion is moving to the third fixed portion, the working robot removes the fourth fixed portion.
The movable portion conveys the fourth fixed portion together with the work robot,
The working robot returns the fourth fixing portion to the storage table.
The work machine according to claim 2 . The first fixing portion and the second fixing portion are provided at both ends of the power supply line constituting the power supply module, and connectors are connected to each other when the second fixing portion is added. The work machine according to any one of claims 1 to 3. According to claim 4, the connector is arranged on the end faces of the first fixing portion and the second fixing portion in the moving direction, and is automatically connected when the second fixing portion is added. The listed work machine. The work machine according to any one of claims 1 to 5, wherein the expansion work is performed when the work content of the predetermined work is changed.

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