JPH07108965A - Working device for conveyed material - Google Patents

Abstract

PURPOSE:To machine the machined part of conveyed material in conveyance with accuracy by providing a synchronous moving means for moving a working bench synchronously with the moving speed of a conveyor, and a machining device for performing specified machining work to the target point of the conveyed material. CONSTITUTION:The engagement between the pusher 11 of a conveyor 3 and a front side claw part 10 is released, and a hanger 1 and the conveyor 3 are placed in the completely separated state. The hanger 1 moves at the speed synchronous with the carrier speed of the hanger 1 by a driving system by means of a moving motor. When a limit switch provided at a detecting device 40 comes in contact with a connecting pin provided between a hook part at the upper part of the hanger 1 and a hanger side roller part, the limit switch is closed. The hanger 1 is put in the specified inclined state to prevent the dripping phenomenon of adhesive, and in this state, a painting robot 23 is put in action to perform adhesive painting work to the target point of a workpiece 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work device for a conveyed product which carries out a predetermined work such as processing and assembly on the conveyed product being conveyed in a predetermined direction by a conveyor.

[0002]

2. Description of the Related Art Conventionally, a robot having an adhesive application gun has been used for applying an adhesive to a work as a conveyed product. In the coating operation using this robot, it is required to accurately determine the relative position between the coating robot and the adhesive coating surface. However, the adhesive application surface of the work differs in shape and position in each work due to processing errors such as press work and welding work. Further, the holding position of the work by the carrying device such as a hanger and a mounting table for carrying the work is also different in each carrying device. Therefore, even when the adhesive is applied to the application surface of the work by the adhesive application robot, the application position of the adhesive or the distance between the application surface and the application gun deviates from the reference value, and the adhesive is applied accurately. However, there is a risk that the desired adhesion performance cannot be obtained due to the failure of the above.

One work device for solving this problem is disclosed in, for example, Japanese Utility Model Publication No. 3-40386. In this working device, a coating surface measuring device that can move between a measurement position and a retracted position by a moving mechanism and that measures a target point for coating a work is provided, and the moving position of the coating gun is corrected based on the measurement result. By doing so, the adhesive can be applied with high accuracy regardless of the accuracy of the work transfer device, the processing error of the work, and the like.

On the other hand, the above-mentioned working device accurately carries out the work of applying the adhesive by temporarily stopping the work. For example, the work is conveyed without stopping the work conveyed by a conveyor. There are those that perform predetermined work while continuing. An example of this type of work device is disclosed in Japanese Utility Model Publication No. 1-35792.

In this working apparatus, as shown in FIGS. 8 and 9, the body 5 on the moving table 52 is moved by the conveyor 51.
When 3 approaches the working device 54 and the support column 55 of the movable table 52 is detected by the sensor 56, the control device 57 outputs the clamp signal S1 and the gripping piece 59 of the clamper 58.
-60 is driven and grips the column 55. As a result, the support device 61 on the work table 63 is integrally connected to the moving table 52 and starts moving together with the moving table 52 on the work table 63 in the transport direction. Such an integral movement continues, and eventually the moving table 52
When the tip of the upper body 53 is detected by the body sensor 62, the controller 57 outputs the motor drive signal S2 to the motor 64 and the lock signal S3 to the flow path switching valve 65. This signal S2 causes the work table 63 to move to the moving table 52.
Start moving in sync with. Further, at this time, the flow path switching valve 65 is switched by the signal S3, and the support device 61 is fixed to the workbench 63. After that, the workbench 63 moves integrally with the body 53. After such a moving state is formed, the processing robot 66 on the workbench 63 is driven by the work start signal S4 from the control device 57 to drive the body 5
Welding work is performed at a predetermined position of 3. The distance between the body sensor 62 and the machining position of the machining robot 66 is set to be equal to the distance between the tip of the body 53 and the machining position of the body 53. Therefore, based on the output of the body sensor 62,
The relative positional relationship between the workbench 63 and the body 53 is always kept constant so that the application work can be performed on an accurate portion of the body 53.

[0006]

However, in the above-mentioned conventional working apparatus for carrying a predetermined work while continuing the carrying, in the coating work, the moving speed of the conveyor 51 and the working robot fixed to the worktable 63 are used. The moving speed of 66 is synchronized, and thereby the relative speed between the processing robot 66 and the coating position of the body 53 is set to zero. It is not easy to set the relative speed to zero in the state where the robot 66 and the body 53 moving by the conveyor 51 are integrally connected, and the connected portion tends to be loosened depending on the driving system of each other. There is a problem that it is difficult to accurately position the processing robot 66 with respect to the coating position.

Further, in order to drive the workbench 63 to which the processing robot 66 is fixed by the motor 64 and synchronize it with the body 53 moving on the conveyor 51, if the weight of the placed object on the workbench 63 is large, Increased load,
There is a problem that it becomes difficult to synchronize the moving speeds.

The present invention has been made in view of the above conventional problems, and an object thereof is to accurately perform processing on a processed portion of a conveyed object without being influenced by a driving system by a conveyor. An object of the present invention is to provide a working device for a conveyed object that can be processed.

[0009]

In order to solve the above-mentioned problems, a working apparatus for conveyed goods according to the first aspect of the present invention provides:
Arranged in the vicinity of the conveying path of the conveyed object supported and conveyed by the conveyed object support that is engaged and transferred at the engaging portion with the conveyor, and performs a predetermined processing operation on the conveyed object being conveyed. In a working device for a conveyed object, the engaging portion of the conveyed object support is provided with a predetermined play portion capable of releasing the engagement, and a detection means for detecting the conveying position of the conveyed object support, A speed detecting means for detecting the conveying speed of the conveyed object support by the conveyor, and a detection output of the detection means to drive the conveyed object support within the range of the play portion with respect to the conveying position on the conveyor. Clamping means for gripping at a position where the engagement can be released, a workbench that supports the clamp means and can move in a direction parallel to the transported object support, and a workbench that moves the workbench based on the speed detected by the speed detecting means. Moved in sync with speed And synchronous moving means that are mounted on the worktable, is characterized in that a processing device which performs predetermined processing operations are provided for the target point of the conveyed object.

In order to solve the above-mentioned problems, the working device for conveyed goods according to a second aspect of the present invention is the working device for conveyed goods according to the first aspect, in which the detecting means and the speed detecting means perform machining work. It is characterized in that it is provided on a conveyed product support different from the conveyed product support.

[0011]

According to the first aspect of the present invention, when a working operation is performed, firstly, in the transported object supported by the transported object support, the engaging portion provided on the transported object support engages with the conveyor. It is transported by

Next, when the transported object support reaches the predetermined position, the speed detecting means detects the speed of the conveyor. Based on this detection output, the synchronous movement means moves the workbench equipped with the processing device and the clamp means in synchronization with the movement speed of the conveyor.

Next, when the detection means detects that the conveyed product support has reached a predetermined position, the clamp means grips the conveyed product support. At this time, the clamp means
Instead of gripping the conveyed object support at the conveying position on the conveyor, the conveyed object support is grasped at a position where the engagement can be released within the range of the play portion in the engaging portion of the conveyed object support.

For this reason, the engagement between the conveyor and the engaging portion is released, whereby the conveyed product is separated from the drive system by the conveyor.

As a result, the processing device and the conveyed object existing on the same work table always have a stationary state, and
In this state, the work table moves at a moving speed that is synchronized with the conveyor, and during this time, the working device performs working work on the target point of the conveyed product.

Therefore, the processing apparatus can accurately perform the processing operation on the processed portion of the conveyed object without being affected by the drive system of the conveyor while maintaining the conveyed state.

According to the second aspect of the present invention, the detecting means and the speed detecting means are not provided on the carrier support of the object to be processed, but different carrier supports, that is, for example, It is provided on the conveyed product support one rearward of the conveyed product support for carrying out the processing work.

That is, the workbench supporting the transported object and the workbench on which the processing device is placed are moved in synchronism with the conveyer. As the weight of the workbench increases, the workbench moves in synchronization. The load of the moving means becomes large, and it becomes difficult to perform the synchronous movement. Then, when it becomes impossible to maintain the synchronization with the moving speed of the conveyor, the transported object support relatively moves back and forth beyond the range of the play portion in the engaging portion,
As a result, the carried object support is engaged with the conveyor, so that the carried object support is affected by the drive system of the conveyor.

Therefore, as in the present invention, by avoiding the placement of each means such as the detection means and the speed detection means on the workbench, the workbench can be easily moved synchronously with the conveyer during the working operation. Further, it is possible to prevent the engaging portion of the conveyed object support from engaging with the conveyor.

As a result, the processing apparatus can perform the processing operation on the processed portion of the conveyed object with high accuracy without being affected by the drive system of the conveyor while maintaining the conveyed state.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The following will describe one embodiment of the present invention with reference to FIGS.

The working device for a conveyed article according to the present embodiment is applied, for example, to automatically perform an adhesive coating operation by a coating robot when a rain leak prevention sheet is attached to a door of an automobile. Is.

In the above working device, as shown in FIG.
A workpiece 2 such as a door as a conveyed object fixed by a hanger 1 as a conveyed object support is transferred by a conveyor 3 formed by a chain.

As shown in FIGS. 2 and 3, the hanger 1 is composed of a substantially rectangular frame body, and the hanger 1 supports both ends of the work 2 in the front-rear direction (horizontal direction in FIG. 2). A support device 4 is provided for Work 2
The front and rear sides of the support device 4 are sandwiched by a fixed support part 4a located on the front side of the support device 4 and a movable support part 4b located on the rear side thereof, and the lower end is supported by a door receiver 5 provided on the hanger 1. .

At the center position on the upper part of the hanger 1,
A hook portion 6 is provided, and a hanger side roller portion 7 is formed above the hook portion 6. Further, a connecting pin 13 is provided between the hook portion 6 and the hanger-side roller portion 7 at a right angle to the conveying direction, and the connecting pin 13 is formed so as to project to one side.

As shown in FIG.
As shown in (a) and (b), hanger-side guide rollers 8.8 guided by hanger-side guide rails 9 extending in the transport direction are provided. Further, on the uppermost part of the hanger-side roller part 7, the claw parts 10 and 10 as engaging parts are provided.
Are provided in the front and rear with respect to the transport direction, and the distance between the front and the rear is, for example, about 70 mm.

Between the two claws 10 and 10, pushers 11 provided on the conveyor 3 formed of a chain at a predetermined equal interval are engaged between the claws 10 and 10. It is provided in a drooping state. The length of the pusher 11 in the carrying direction is, for example, about 30 mm. Therefore, the pusher 11 has a gap L between the front and rear claw portions 10 as a play portion of 20 + 20 = 40 mm, for example. The conveyor 3 is moved by a driving device (not shown) at a speed of about 2.4 m / min.

The pushers 11 are provided on the conveyor 3 at equal intervals of 2 m in the carrying direction. Therefore, the hanger 1 has a hanger pitch of 2 m and is suspended and conveyed at equal intervals.

Conveyor-side guide rollers 12 ... Are provided on the upper side of the conveyor 3, and the conveyor-side guide rollers 12 ... Are provided along the conveyor guide rails 14 having an H-shaped cross section and provided in parallel with the conveyor 3. You will be guided.

On the other hand, as shown in FIG. 1, a coating station 20 is provided at a predetermined position in the carrying direction of the conveyor 3. The coating station 20 includes a base 21 fixedly provided, a moving base 22 as a work table for moving the base 21 in the transport direction, and a coating robot 23 as a processing device mounted on the moving base 22. As shown in FIG. 5, an advancing / retreating plate 24 provided on the moving base 22 so as to be advancing / retreating in a direction perpendicular to the conveyor 3.
And a clamp device 25 as a clamp means mounted on the advancing / retreating plate 24. In this embodiment, two conveyors 3 are provided in parallel, and two coating stations 20 and the like are also installed in order to coat the left and right doors of the automobile as the work 2 at the same time. In this embodiment, only one of them will be described.

More specifically, as shown in FIG. 6, the coating station 20 coats on a movable base 22 which is provided so as to be movable in a conveying direction (from the front side to the back side of the paper in the figure) with respect to a base 21. A robot 23 is placed. The base 21 is configured to move in parallel with the conveyor 3 at a speed that is synchronized with the transportation speed of the hanger 1 that is transported by the conveyor 3 by a moving motor 38 as a synchronous moving means.

An advancing / retreating guide rail 26 provided on the moving base 22 in a direction perpendicular to the conveying direction.
An advancing / retreating plate 24 is provided on the advancing / retreating guide rail 26 so as to be capable of advancing / retreating in the hanger 1 direction (horizontal direction in the drawing). A clamp device 25 and a standing motor 29 for standing up a right-angle member 28 provided at the tip of a shaft 27 for pulling the lower end frame of the hanger 1 are mounted on the advancing / retreating plate 24. It is placed.

The above-mentioned clamping device 25 is provided at the front and rear of the hanger 1 in the carrying direction so as to grip the front and rear frames of the hanger 1 in the carrying direction (see FIG. 5). Air cylinders 3 and 3 for gripping at two places, slightly above
It is provided with clamps 33 and 34 having 1. As shown in FIG. 7, one end of each of the clamps 33 and 34 is rotatably attached to the tip of the cylinder rod 31a, while the other end is rotatably attached to the fixed end.
Therefore, by pushing out the cylinder rod 31a, the clamps 33 and 34 rotate around the fixed end, thereby supporting the hanger 1 and pushing the hanger 1 toward the front side in the transport direction of the hanger 1 so as to be displaced. There is.

Further, the moving base 22 is provided with an advancing / retreating plate 2
An air cylinder 35 for moving the 4 forward and backward is provided. The tip of the rod 36 of the air cylinder 35 is attached to a connecting plate 37 which is attached to the forward / backward moving plates 24, 24 (see FIG. 5).
Therefore, by advancing the rod 36 of the air cylinder 35, the advancing / retreating plates 24, 24 advance and move via the connecting plate 37 to approach the hanger 1.

On the other hand, as shown in FIG. 5, the hanger 1 positioned at the coating station 20 where the coating operation is performed is one position behind the hanger 1, that is, the hanger 1 positioned at the coating station 20 is the hanger. At the position of the hanger 1 behind the pitch, there is provided a detection device 40 for detecting the accurate position of the hanger 1 existing in the coating station 20 and for detecting the speed of the hanger 1.

The detecting device 40 is a guide table 41 provided in parallel with the conveyor 3 and having a predetermined length, and a speed detector for detecting the conveying speed of the hanger 1 guided by guide rails 42, 42 on the guide table 41. A detector 43 as a means, a switch 47 as a detecting means, a return motor 44 for returning the detector 43 to the initial position again when the detector 43 moves forward to a predetermined position, and a hanger 1. It is composed of a limit switch 46 and the like for detecting the timing of tilting.

The detector 43 has detection clamps 45, 45 on the hanger 1 side.
The hanger 1 is gripped at 45. As a result, the detector 43 is pulled by the hanger 1 and moves with the hanger 1, and at this time, the transport speed of the hanger 1 is detected by a gear device or the like not shown. Further, when the detection clamp 45 comes into contact with the hanger 1 and the switch 47 is turned on, the distance between the position of the coating robot 23 and the hanger 1 in front of the hanger 1 existing in the coating station 20 becomes smaller. It is adapted to just the hanger pitch, and at this time, the moving motor 38 of the coating station 20 is driven via a control device (not shown).

The operation of the work device having the above-mentioned structure will be described.

First, as shown in FIG. 1, the hanger 1 is conveyed by pressing the claw portion 10 of the hanger 1 on the front side in the conveying direction by the pusher 11 of the conveyor 3.
Next, as shown in FIG. 5, when the hanger 1 reaches the initial position of the detector 43 and comes into contact with the detection clamp 45 on the front side of the detector 43, the switch 47 is activated and the front and rear detection clamps 45 45 holds the vertical frame of the hanger 1. As a result, the detector 43 moves together with the hanger 1, and at this time, the transport speed of the hanger 1 is detected by a gear device or the like not shown. In addition, the above switch 47
The position of the hanger 1 when is operated is a position separated from the hanger 1 in front of the coating station 20, which is one front, by a hanger pitch.
It is detected that the hanger 1 which is one ahead of the detected hanger 1 has reached the coating position of the coating station 20.

Further, at this time, the moving base 22 of the coating station 20 grips the hanger 1 by the detection clamps 45, 45 in the hanger 1 one behind the above, and the conveying speed is detected. The movement motor 3 starts moving from the initial position SP indicated by the dotted line at a speed synchronized with the above-described transportation speed of the hanger 1. Further, at the same time, as shown in FIG. 7, the air cylinder 35 causes the advancing / retreating plate 24 to start advancing to the hanger 1 side.

Next, as shown in FIG. 5, the respective clamps 33, 34 of the clamp devices 25, 25
Both front and rear ends of the hanger 1 are gripped. At this time, the clamp devices 25, 25 attach the hanger 1 to the conveyor 3
The clamps 33 and 34 are controlled so that the clamps 33 and 34 are gripped at a front position in the transport direction, for example, about 10 mm from the transport position in the above.

As a result, as shown in FIG. 1, the pusher 11 of the conveyor 3 and the front claw portion 10 are disengaged from each other, and the hanger 1 and the conveyor 3 are completely separated from each other. The hanger 1 is moved by a drive system of the moving motor 3 at a speed synchronized with the above-mentioned transport speed of the hanger 1.

Then, as shown in FIG.
When the limit switch 46 provided on the contact portion comes into contact with the connecting pin 13 provided between the hook portion 6 on the upper portion of the hanger 1 and the hanger-side roller portion 7, the limit switch 46
Turns on. Based on the ON signal, as shown in FIG. 6, the right-angled member 28 provided at the tip of the shaft 27 is erected by the erection motor 29, and the air cylinder 35 shown in FIG. 7 is operated to operate the hanger. Move the bottom frame of 1 in the exit direction. As a result, the hanger 1 is brought into a predetermined inclined state capable of preventing the phenomenon of the adhesive dripping, and in this state, the coating robot 23 is operated to perform the adhesive coating work on the target point of the work 2.

When the painting operation is completed, the air cylinder 35 is operated to move the advancing / retreating plate 24 forward,
The hanger 1 is returned from the inclined state to the original standing state. As a result, the pusher 11 of the conveyor 3 causes the front and rear claw portions 10 to move.
・ It will be placed in the space between 10. Next, when the grip of the hanger 1 by the clamps 33, 34 of the clamp device 25, 25 is released, immediately the front claw portion 1 of the hanger 1 is immediately released.
0 contacts pusher 11. Then, after that, the hanger 1 is conveyed by the conveyor 3.

Further, as shown in FIG. 5, when the moving base 22 of the coating station 20 reaches the end position EP, it returns to the initial position SP for the next hanger 1, while the detector 43 of the detecting device 40 also returns to its original position. Return to the initial position.

As described above, in the working apparatus for conveyed goods according to the present embodiment, when the coating work is performed, first, the hanger 1 is used.
The workpiece 2 supported by is conveyed by the claw portion 10 provided on the hanger 1 engaging with the conveyor 3.

Then, when the hanger 1 reaches a predetermined position, the detector 43 detects the speed of the conveyor. Based on this detection output, the movement motor 38 causes the coating robot 23 to move.
The workbench equipped with and the clamp device 25 is moved in synchronization with the moving speed of the conveyor.

Next, when the switch 47 detects that the hanger 1 has reached the predetermined position, the clamp device 25 grips the hanger 1. At this time, the clamp device 25 conveys the hanger 1 on the conveyor 3. Instead of gripping at the position, the grip is gripped at a position where the engagement can be released within the range of the play portion L of the claw portions 10 of the hanger 1.
That is, the hanger 1 is gripped at a slightly forward position in the transport direction within the play portion L of the claw portions 10 of the hanger 1. For this reason, the engagement between the conveyor 3 and the claw portion 10 is released, whereby the work 2 is separated from the drive system of the conveyor 3.

As a result, the coating robot 23 and the work 2 existing on the same moving base 22 always have a stationary relationship, and in this state, the moving base 22 moves at a moving speed synchronized with the conveyor 3. During this period, the coating robot 23 performs the coating operation of the adhesive on the target point of the work 2.

Therefore, the coating robot 23 can accurately perform the coating work on the coating portion of the work 2 without being affected by the drive system of the conveyor 3 while maintaining the transport state.

Further, in this embodiment, the switch 47 and the detector 43 are the hanger 1 of the work 2 to be coated.
However, it is not provided on the hanger 1 but on a different hanger 1, that is, one hanger 1 behind the hanger 1 supporting the work 2 of the coating station 20 for performing the coating work.

That is, the hanger 1 for supporting the work 2.
The moving base 22 on which the coating robot 23 is placed is moved synchronously with the conveyor 3, and as the weight of the moving base 22 increases, the load of the moving motor 38 that moves the moving base 22 in synchronization increases. It becomes difficult to move. Then, when the synchronization with the moving speed of the conveyor 3 cannot be maintained, the hanger 1 relatively moves back and forth beyond the range of the play portion L of the claw portions 10 and 10, whereby the relationship between the hanger 1 and the conveyor 3 is increased. Therefore, the hanger 1 is influenced by the drive system of the conveyor 3.

Therefore, as in the present embodiment, by avoiding the placement of the detecting device such as the switch 47 and the detector 43 on the moving base 22, the moving base 2 can be prevented.
It is possible to facilitate the synchronous movement of the second conveyor 3 with the conveyor 3 and prevent the claw portion 10 of the hanger 1 from engaging with the conveyor 3 during the coating operation.

As a result, the coating robot 23 can accurately perform the coating work on the coating portion of the work 2 without being affected by the drive system of the conveyor 3 while maintaining the transportation state.

[0055]

As described above, in the working apparatus for conveyed goods according to the first aspect of the present invention, the engaging portion of the conveyed goods support is provided with a predetermined play portion capable of releasing the engagement. Detecting means for detecting the conveying position of the conveyed object support, speed detecting means for detecting the conveying speed of the conveyed object support by the conveyor, and the conveyed object support driven by the detection output of the detecting means Clamp means for gripping at a position where the engagement can be released within the range of the play part with respect to the transport position in, and a work table that supports the clamp means and can move in a direction parallel to the transported object support, Synchronous moving means for moving the work table in synchronism with the moving speed of the conveyor based on the speed detected by the speed detection means, and a processing device mounted on the work table for performing a predetermined processing operation on a target point of the conveyed object. Equipped It is formed.

As a result, in the case of performing the working operation, when the detection means detects that the transported object support reaches the predetermined position, the clamp means grips the transported object support, but at this time, the clamp means Instead of gripping the conveyed product support at the conveying position on the conveyor, the conveyed product support is grasped at a position where the engagement can be released within the range of the play portion in the engaging portion of the conveyed product support. For this reason, the engagement between the conveyor and the engaging portion is released, and thereby the conveyed product is separated from the drive system of the conveyor.

As a result, the processing device and the transported object existing on the same work table always have a stationary state, and
In this state, the work table moves at a moving speed that is synchronized with the conveyor, and during this time, the working device performs working work on the target point of the conveyed product.

Therefore, the processing apparatus has an effect that the processing operation can be performed accurately on the processed portion of the conveyed object without being influenced by the driving system of the conveyor while maintaining the conveyed state.

According to a second aspect of the present invention, there is provided a working apparatus for a conveyed item as defined in the first aspect.
The detection means and the speed detection means are provided on a conveyed object support different from the conveyed object support for the object to be processed.

Thus, by avoiding the placement of each means such as the detection means and the speed detection means on the workbench, the workbench can be easily moved synchronously with the conveyer, and the carrier support during the working operation. It is possible to prevent the engaging portion of the above from engaging with the conveyor.

As a result, the processing device has an effect that it is possible to perform the processing operation with high accuracy on the processed portion of the conveyed object without being influenced by the drive system of the conveyor while maintaining the conveyed state.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a work device for a conveyed object in one embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a state where a work supported by a hanger is conveyed by a conveyor in the working apparatus.

FIG. 3 is a side view of FIG.

4A and 4B show in detail the structure of a claw portion in the hanger, wherein FIG. 4A is a front view and FIG. 4B is a side view.

FIG. 5 is a plan view showing the overall configuration of the working device.

FIG. 6 is a side view showing a coating station of the working device.

FIG. 7 is a partial plan view showing a part of a coating station of the working apparatus.

FIG. 8 is a plan view showing a conventional example and showing a configuration of a working device for a conveyed object.

FIG. 9 is a front view showing a configuration of a work device for the conveyed object.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hanger (conveyed object support) 2 Work (conveyed object) 3 Conveyor 10 Claw part (engagement part) 22 Moving base (work table) 23 Coating robot (processing device) 25 Clamping device (clamping means) 38 Moving motor (synchronous) Moving means) 43 detector (speed detecting means) 47 switch (detecting means) L play part

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location B65G 43/08

Claims (2)

[Claims] 1. A conveyor, which is disposed in the vicinity of a conveying path of a conveyed object which is conveyed while being supported by a conveyed object support which is engaged with a conveyor and is conveyed at a predetermined position with respect to a conveyed object. In the working device for the transported object to be processed, the engaging portion of the transported object support is provided with a predetermined play part capable of releasing the engagement, and the transport position of the transported object support is detected. Detecting means, a speed detecting means for detecting a conveying speed of the conveyor for the conveyed object support, and a detection output of the detecting means for driving the conveyed object support with respect to the conveying position on the conveyor. Clamping means for gripping at a position where the engagement can be released within the range of, the work table that supports the clamp means and can move in a direction parallel to the conveyed object support, and the work based on the speed detected by the speed detecting means. Moving the platform on the conveyor And synchronous moving means for moving synchronously in time, is mounted on the work table, the work device for conveying products, wherein a and processing apparatus for performing predetermined processing operations are provided for the target point of the conveyed object. 2. The work for a conveyed article according to claim 1, wherein the detection means and the speed detection means are provided on a conveyed article support different from a conveyed article support for the conveyed article on which a working operation is performed. apparatus.