JPH09285990A - Robot device and robot working device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a loss time when a hand is replaced in multiple item small-scale production or mixed flow production by providing a module releasing device provided with a releasing coil by which a magnetic flux magnetically connected to a magnetic flux generated by means of a magnetic flux generating means is generated so as to control magnetic attraction force. SOLUTION: A connecting action is carried out while magnetic attraction force between the first and second connecting members is eliminated by using a releasing coil 20 in a module releasing device 400. Therefore, a problem such as difficulty in connecting work due to very intensive impact force generated when the second connecting member 5 is brought into contact with the first connecting member 4 because magnetic attraction force between the first and the second connecting members 4, 5 is increased as the second connecting member 5 is brought closer to the first connecting member 4. In disassembly of a robot, working drive mechanism modules 4, 5 are separated from each other while the magnetic attraction force between the first and second connecting members is eliminated by the releasing coil 20 similarly to the connecting time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot having a plurality of work drive mechanism modules detachably connected to each other, and a robot device having a module exchanging device for connecting and disconnecting the work drive mechanism modules. The present invention relates to a robot working device in which robot devices are arranged so that a plurality of robot devices can take out work pieces from a buffer area and work. For example, it is applied to an automatic assembly apparatus or the like.

[0002]

2. Description of the Related Art A conventional robot apparatus has a structure in which a large number of single-function robots are simply arranged on both sides of a conveyor as represented by an automobile manufacturing line. With such a configuration, a large-scale production line is required to complete one product, and it is unsuitable for the recent high-mix low-volume production and shortening of product cycles. Under such circumstances, a more flexible robot device is required, and for example, a robot device as shown in FIG. 12 has been proposed. The robot apparatus of FIG. 12 is the same as that of the Robotics Society of Japan (VOL. NO. 3PP. 334-338, 1).
992), and in the figure, 501 to 50
Reference numeral 3 denotes an arm type robot for assembly work, which is configured to be self-propelled on a stage 504. Reference numeral 505 is an arm provided for each of the robots 501 to 503. 5
Reference numerals 06 and 507 denote worktables that can be self-propelled on the stage 504, reference numeral 508 denotes a feeder for mounting the components 509 and the like on the platen 510 and transferring them, and reference numeral 511 denotes a cable for supplying power and communication.

The operation of the conventional robot device will be described. When the contents of the assembly work are decided, each robot 501, 5
02 and 503 and the work tables 506 and 507 are moved and fixed to a preset layout position. For example, in FIG. 12, the robots 501 and 502 are fixed to the work table 506 at a position where they co-assemble an assembly object (not shown). Further, the robot 503 is fixed to a position on the work table 507 for assembling an assembly object (not shown). Assembly work is performed in such a state. When the assembly work is completed and the product to be assembled next is different from the previous product, the robots 501, 502, 503 and the work tables 506 and 507 are moved and fixed to positions suitable for assembling the next product. It Arm 505
If the robots need to be replaced,
Before fixing 2 and 503, the arm 505 is replaced.

[0004]

As described above, in the conventional robot apparatus, the robot is configured as a self-propelled type in order to cope with small-lot production of a wide variety of products and shortening of product cycles. Since it is only configured to be self-propelled and fixed to the work position, it is difficult to move the robot to the work position or the hand exchange position quickly and accurately,
In addition, there is a problem in that it is difficult to improve productivity because a lot of work time is lost in the exchange of hands in high-mix low-volume production or mixed flow production. Further, in multi-flow mixed production with many work processes, for example, when an abnormality occurs in the robot device, it is difficult to quickly deal with it. The present invention has been made to solve the above problems, and an object of the present invention is to provide a robot apparatus having high productivity with little loss time in high-mix low-volume production or mixed production.

[0005]

A robot apparatus according to the present invention is a robot assembly apparatus for constructing a robot with a plurality of work drive mechanism modules that are separably connected, and for connecting and separating the work drive mechanism modules. And a disconnecting device having a control coil for controlling the magnetic attraction force of the coupling device by providing a coupling device that is provided with a magnetic flux generating means and couples the work driving mechanism modules with a magnetic attraction force to the working drive mechanism module. Is provided. Further, the magnetic flux generating means is formed by a permanent magnet. Further, the module connecting device is provided in at least one of the working drive mechanism modules, and the module connecting device is provided with a fitting member capable of forming a magnetic path of the magnetic flux generated by the magnetic flux generating means and fitting the separation coil. The module removing device is arranged independently of the robot, and the separation coil is fitted to the fitting member when the magnetic attraction force is controlled. Further, the module removing device is linked to the robot assembling device.

Further, according to the present invention, a robot composed of a track and a plurality of work drive mechanism modules connected to each other in a separable manner and movable along the track, and the work drive mechanism module in the track are exchanged. And a task controller for controlling the operation of the robot and the module exchanging device. Also,
One of the plurality of work drive mechanism modules is a traveling device that supports another work drive mechanism module and moves along a track. Further, the traveling device can be attached to and detached from the track by a module exchanging device. Further, at least one of the work drive mechanism modules is provided with drive means for driving the work drive mechanism module and a drive control device for controlling the operation of the drive means, and the task control device issues a command to the drive control device. It is configured to send. Also, the trajectory for guiding the robot is formed in a loop.

Further, the working drive mechanism module is supported by the traveling device, and the traveling device is supported by the track. Further, the traveling device can be attached to and detached from the track. In addition, the track is formed in a circular shape, two work tables on which the robot works are arranged inside the track, and two tracks are arranged substantially parallel to each other at intervals, and the work tables on which the robot works are arranged between the tracks. It is a thing. Further, the module exchanging device is composed of a plurality of exchange drive mechanism modules which are detachably connected to each other, and the robot device is capable of connecting and disconnecting the exchange drive mechanism modules. Also, a module connecting device having magnetic flux generating means for connecting between the work drive mechanism modules by a magnetic attraction force, and a magnetic flux magnetically coupled to the magnetic flux generated by the magnetic flux generating means to generate the magnetic force. And a module detaching device having a detaching coil for controlling the suction force. In addition, a plurality of robots are provided on the track. Further, a plurality of robots are provided on the track and a plurality of module exchanging devices are provided.

A robot working apparatus according to the present invention is provided with a plurality of robot apparatuses, a plurality of buffer areas capable of stocking work pieces, and a general task control apparatus, and the work piece stocked by one buffer area. On the other hand, two or more robot devices are arranged adjacent to one buffer area so that at least two robot devices can work, and the general task control device works from the robot devices adjacent to the buffer area. It is configured to select a robot device and issue a command. Also, a plurality of robot devices are arranged so as to surround the periphery of one robot device, and a buffer area is arranged between the robot devices facing each other. Further, the robot device and the buffer area are alternately arranged adjacent to each other in a predetermined direction, and also adjacent to each other in a direction substantially perpendicular to the predetermined direction. In addition, the general task device sets the work sharing performed by each robot device and issues a command to each of the robot devices, and when any failure of each of the robot devices is detected, the work of the failed robot device is performed. It is configured to issue a command to the robot device to transfer to the robot device. In addition, the general task device sets the work sharing performed by each robot device, issues a command to each robot device, detects the staying condition of the work in the buffer area, and responds to the staying condition of the work by The robot is configured to issue a command to each of the robot devices so as to change the previously assigned work assignment.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. 1 is a schematic perspective view showing a robot apparatus according to a first embodiment of the present invention. In FIG. 1, 1 is a circular loop-shaped track, 2 is a work table arranged in the center of the track 1, and 100 is a 4-axis horizontal multi-axis provided on the track 1 so as to be movable along the track 1. The joint robot is composed of first to fourth work drive mechanism modules 3, 4, 5 and 6 which are detachably connected to each other. The first work drive mechanism module 3 has a track 1
It is configured by a traveling device (hereinafter referred to as a traveling device) that is detachably supported by. The second work drive mechanism module 4 is supported by the traveling device 3. The third work drive mechanism module 5 is rotatably supported by the second work drive mechanism module 4. The fourth work drive mechanism module 6 is rotatably supported by a rotary shaft portion (not shown) of the third work drive mechanism module 5, and has a vertical shaft 7 and a vertical shaft 7 for working on the work table 2. A wrist shaft 8 is provided. Reference numeral 200 denotes the robot 100 by connecting or separating the second to fourth work drive mechanism modules 4, 5, 6 and the traveling device 3 from each other.
It is a module exchanging device for assembling and disassembling.

FIG. 2 is a perspective view showing a state during the replacement operation by the module replacement device 200. That is, FIG.
Then, the work drive mechanism module 5 is about to be connected to 4. Reference numeral 9 denotes an assembling arm device for assembling the robot, which supports the first assembling arm 10 so as to be movable and rotatable in the vertical direction. Reference numeral 11 denotes a second assembling arm, which is rotatably supported by the first assembling arm 10. Reference numeral 12 denotes a gripping device rotatably supported by the second assembling arm 11, and a gripping hand 13 that opens and closes each other.
Is provided. Reference numeral 14 is a first vision sensor (camera) rotatably supported by the grip device 12. Assembly arm device 9, first and second assembly arms 10, 1
1 and the gripping device 12, the robot assembling device 300
Is configured.

Reference numeral 15 is a detaching arm device, which supports the first coil support arm 16 so as to be movable and rotatable in the vertical direction. A second coil support arm 17 is rotatably supported by the first coil support arm 16. Reference numeral 18 is a third coil support arm, which is the second coil support arm 1.
It is rotatably supported by 7. As shown in FIG. 3, the third coil support arm 18 is provided with a pair of parallel arms 19 which can be opened and closed. Reference numeral 20 denotes a pair of detachment coils provided on the parallel arm 19.
When 9 is open, they are in a state of being divided from each other, and when parallel arm 19 is in a state of being closed, they are connected to each other so that a coil current flows. Arm device 15 for detaching device, first coil supporting arm 16, second coil supporting arm 17,
The third coil supporting arm 18, the parallel arm 19 and the detaching coil 20 constitute a module detaching device 400. Reference numeral 500 denotes a module storage device, which is the robot 1
00 stores various types of work drive mechanism modules (for example, 21) so that various types of products can be assembled. Further, a work drive mechanism module (not shown) for processing is also stored so that processing work such as welding, cutting, and forming work other than the assembling work can be performed. A cover device 22 is provided with a second vision sensor 23 including a camera for monitoring the assembly work of the robot 100. The robot assembly device 300, the module removal device 400, the module storage device 500, and the cover device 22 constitute a module exchange device 200.

FIG. 4 shows a second work drive mechanism module 4
It is sectional drawing which shows the cross section of the part which is connected with the 3rd drive mechanism module 5 for a work. In FIG. 4, reference numeral 24 is a first support frame provided in the second work drive mechanism module 4, M2 is a motor which is a drive means provided in the first support frame 24 and has a rotation shaft 26, and 27 is a decelerating member. The first in the device
Fixed link portion 28 fixed to the support frame 24 of the rotary shaft 2
A rotation input unit 29 and a motor M2 which are connected to 6 and rotate.
The rotation output unit 30 is configured to output the reduced rotation speed. E2 is an encoder for detecting the rotational position of the motor M2, 32 is a rotary shaft portion, and the fixed link portion 2
8 and the cross roller bearing 33, the first support frame 24
It is supported rotatably. The rotation shaft portion 32 is connected to the rotation output portion 30 and rotates together with the rotation output portion 30. Reference numeral 34 denotes a U-shaped first magnetic body formed of a magnetic body, which is fixed to the rotary shaft portion 32. First
The magnetic body 34 has a pair of connecting portions 35 that are arranged in parallel with each other with a space therebetween, and both ends thereof are connected to the connecting portions 35 so that the detachment coil 20 can be fitted thereinto. It is composed of a joint portion 36. Reference numeral 37 is a second support frame provided in the third work drive mechanism module 5, and is provided with a step portion 38 that is detachably fitted to the rotary shaft portion 32. Reference numeral 39 denotes a pair of second magnetic members formed of a magnetic member and arranged in parallel with each other at intervals. The second magnetic members 39 are arranged so as to face the first connecting portion 35 and are fixed to the second support frame 37. A magnetic flux generating means 40 (hereinafter referred to as a permanent magnet) formed by a permanent magnet is arranged between the second magnetic bodies 39 and is connected to the second magnetic bodies 39. First
The module connecting device 41 is constituted by the second magnetic bodies 34 and 39 and the permanent magnet 40.

FIG. 5 is an exploded view of the module connecting device 41 for explaining the positional relationship between the first and second magnetic bodies 34 and 39 and the permanent magnet 40. In FIG. 5, the alternate long and short dash line indicates the magnetic path through which the magnetic flux generated by the permanent magnet 40 passes.
FIG. 6 is a plan view showing the positional relationship between the second support 37 and the module connecting device 41. In FIG. 6, the alternate long and short dash line indicates the magnetic path through which the magnetic flux generated by the permanent magnet 40 passes.
The second work drive mechanism module 4 and the third work drive mechanism module 5 are connected by a magnetic attraction force between the first and second magnetic bodies 34, 39 due to the magnetic flux generated by the permanent magnet 40. It

FIG. 7 is a block diagram showing a control system of the robot apparatus according to the first embodiment. In the figure, M1
M8 is a motor, E1 to E8 are encoders, and the motor M1
~ The rotational position of M8 is detected. Servo controllers S1 to S7 control the motors M1 to M8 as instructed by the task control device 42 by using the outputs of the encoders E1 to E8 as hoodback signals. Drive controllers K1 to K7 are configured by the motors M1 to M8, the encoders E1 to E8, and the servo controllers S1 to S7. Motor M
1, the encoder E1 and the servo controller S1 are provided in the traveling device 3 to move the second working drive mechanism module 5 to the position instructed by the task control device 42. The motor M2, the encoder E2, and the servo controller S2 are provided in the second work drive mechanism module 4, and rotate the third work drive mechanism module 5 to the position instructed by the task control device 42. The motor M3, the encoder E3, and the servo controller S3 rotate the fourth work drive mechanism module 6 based on a command from the task control device 42. The motor M4, the encoder E4, and the servo controller S4 drive the vertical axis 7 based on a command from the task control device 42. The motor M5, the encoder E5, and the servo controller S5 drive the wrist shaft 8 of the fourth work drive mechanism module 6 based on a command from the task control device 42. The second to fourth work drive mechanism modules 4 to 6 are provided with a shape memory (not shown) in which data regarding individual shapes is stored. As for the data regarding the shape, the shapes of the second to fourth work drive mechanism modules 4 to 6 have individual errors and distortions in the manufacturing process, and the data may not necessarily be driven by the program of the task control device 42 planned in advance. It does not always work correctly. Therefore, the data in the shape memory is used to correct the command from the task control device 42 so that the second to fourth work drive mechanism modules 4 to 6 can operate correctly.

The motor M6, the encoder E6 and the servo controller S6 are provided in the robot assembling apparatus 300, and operate the robot assembling apparatus 300 based on a command from the task control apparatus 42. That is, the robot assembly apparatus 300 connects the traveling apparatus 4 and the work drive mechanism modules 5 to 7 to each other or separates them from each other to make the robot 1
00 assembling and disassembling operations. The motor M7, the encoder E7, and the servo controller S7 are provided in the module removal device 400, and operate the module removal device 400 based on a command from the task control device 42.
The module removal device 400 is provided with a coil current control device (not shown) that controls the coil current supplied to the removal coil 20. The motor M8, the encoder E8, and the servo controller S8 are the module storage device 500.
The module storage device 500 is operated based on a command from the task control device 42. That is, the stored work drive mechanism module 21 is moved to a position where the robot assembly apparatus 300 can easily take it out,
The work drive mechanism module 21 conveyed by the robot assembly apparatus 300 is stored in a predetermined location of the module storage device 500. Reference numeral 43 is a communication line for exchanging control signals with the task control device 42, and 44 is a power supply line for supplying power. A power supply means (not shown) capable of supplying power in a contactless manner is used to transfer power between the second to third work drive mechanism modules 4 to 5 and the traveling device 3. Further, the robot assembling apparatus 300, the module detaching apparatus 400, and the module storing apparatus 500 only include one motor M6 to M8, encoders E6 to E8, and servo controllers S6 to S8, but in reality, the operation of each apparatus is described. Multiple pieces are provided according to the content. Further, the traveling device 4, each of the work drive mechanism modules 4 to 5, the robot assembly device 300, the module detachment device 400, and the module storage device 500 are provided with an operation monitor device (not shown) for diagnosing the work state and self. The monitoring result is fed back to the task control device 42 through the communication line 44.

The task control device 42 has a computer incorporated therein and is configured to store instructions for operating the robot 100 and the module exchanging device 200. For example, since the robot apparatus assembles many types of products, in this case, the robot configuration (combination of work drive mechanism modules) required for each product to be assembled by the robot 100, and the operation procedure of the robot 100 when assembling products. It is possible to store the position on the track 1 during the operation of the robot, the work procedure of the module exchanging device 200 for assembling and disassembling the robot 100, and the like. Further, the task control device 42 does not unilaterally send a control signal to the robot 100 and the module exchanging device 200, but, for example, as shown by the first and second visual sensors 14 and 23, the robot 100 and the module. The exchange device 200 is provided with a large number of sensors (not shown), and the detection signals of these sensors are fed back to the task control device 42. Therefore, the control signals being transmitted are corrected by these detection signals for the purpose. It is configured so that it can be operated in a suitable manner. Also,
When the detection signal of the sensor is a signal indicating a failure of the work drive mechanism module, a command for automatically replacing the failed work drive mechanism module of the robot 100 is transmitted. In addition, as described above, the task control device 42, when the assembly of the robot 100 is completed,
It has a function of receiving a signal of data regarding the above-mentioned shape and correcting a command transmitted to the second to fourth work drive mechanism modules 4 to 6. Therefore, for example, when there are a plurality of second work drive mechanism modules 4 for replacement and they are replaced with another second work drive mechanism module 4 due to a failure or the like, the second work drive mechanism module 4 is replaced. Even if there is an error in the shape between the four, the robot 100 can be operated normally by automatically correcting the work program.

The operation of the first embodiment will be described. For example,
When assembling a product (not shown), when a product to be assembled is determined, a command programmed based on the product information input to the task control device 42 is transmitted to the robot 10.
0 and each of the servo controllers S5 to S7 of the module exchanging device 200. Module exchange device 200
Operates to assemble the robot 100 suitable for assembling the product on the track 1. In this case, with the traveling device 3 mounted on the track 1, the second to fourth work drive mechanism modules 4 to 6 are assembled thereon. Robot 1
When the assembly of 00 is completed, the robot 100 executes the assembly work of the product while moving on the track 1 based on the command from the task control device 42. In the assembling work, the robot 100 performs a fourth work by making a plurality of parts (not shown, hereinafter referred to as parts), which are work members, carried into a buffer area (not shown in FIGS. 1 to 6). Gripping with the wrist shaft 8 of the drive mechanism module 6 and carrying it to the work table 2,
Assemble the product on the work table 2. In the process of the assembly work, for example, when a work drive mechanism module (not shown) other than the fourth work drive mechanism module 6 is required, the traveling device 3 causes the robot 100 to move the robot 100 along the track 1 and the module exchanging device. Move closer to 200.

The module exchanging device 200 is the fourth
The work drive mechanism module 6 is replaced. Also, the second
Task control by the operation monitor signals fed back from the second to third work drive mechanism modules 4 to 6 even if the work drive mechanism modules 4 to 6 do not need to be replaced in terms of work content. The device 42 is the second to third
If a failure or the like of the work drive mechanism modules 4 to 6 is detected, the failed second to third work drive mechanism modules 4 to 6 are replaced in accordance with a command from the task control device 42. Further, when there is a problem in a part and an abnormality occurs, the robot 100 stores the problematic part in a defective product buffer area (not shown) according to a command from the task control device 42.

Next, the operation of assembling and disassembling the robot 100 will be described. FIG. 2 shows a working state in which the third working drive mechanism module 5 is connected to the second working drive mechanism module 4. The gripping device 12 supports the third work drive mechanism module 5. In this case, when the third work drive mechanism module 5 is taken out from the module storage device 500, the first vision sensor 14 recognizes the position and shape of the connecting and connecting portion with the second work drive mechanism module 4. Grip so that the connecting operation is possible. Further, the second vision sensor 23 recognizes the position and shape of the connected portion of the second work drive mechanism module 4. The task control device 42 uses the signals transmitted from the first and second vision sensors 14 and 23 and unique data such as the shape, size and weight of the second and third work drive mechanism modules 4 and 5 to assemble the robot. The operation of the device 100 is determined.
On the other hand, the parallel arm 19 is closed, and the two disengagement coils 20 are integrally connected so that the coil current flows, and the fitting member 3
6 is fitted. During the operation of connecting the second and third work drive mechanism modules 4 and 5, a current is supplied to the detachment coil 20 to generate a magnetic flux in a direction in which the detachment coil 20 cancels the magnetic flux generated by the permanent magnet 40. To be excited.

That is, the release coil 20 is excited to eliminate the magnetic attraction force between the first and second connecting members 34, 39 of the connecting device 41 shown in FIGS. In this state, the second support frame 37 is brought close to the rotary shaft portion 32 and the step portion 38 is
Is fitted to the rotary shaft portion 32. As shown in FIG.
When the second connecting members 34 and 39 come into contact with each other, the supply of current to the detachment coil 20 is stopped and the excitation of the detachment coil 20 is stopped. When the excitation of the detachment coil 20 is stopped, the first and second connecting members 34, 39 are coupled by the attractive force of the magnetic flux generated by the permanent magnet 40. Next, the parallel arm 19 is opened to disconnect the release coil 20, and the release coil 20 is released from the fitting member 36.
The connecting operation between the second and third work drive mechanism modules 4 and 5 is completed.

As described above, by using the detachment coil 20, the first coil
Since the coupling operation is performed in a state where the magnetic attraction force between the first and second coupling members 34 and 39 is eliminated, the magnetic attraction force between the first and second coupling members 4 and 5 is Connecting member 39
Increases as it approaches the first connecting member 34,
It is possible to avoid such a problem that an extremely large impact force is generated when the connecting member 39 of FIG. When the robot 100 is disassembled and the second and third work drive mechanism modules 4 and 5 are separated from each other, the decoupling coil 20 is used to separate the magnetic field between the first and second connecting members 34 and 39 similarly to the case of connection. Extinguish the attractive force. By eliminating the magnetic attraction force between the first and second connecting members 34, 39, the separation work between the second and third work drive mechanism modules is facilitated.

In the above description, the drive control devices S1 to S3 are provided in the second to fourth work drive mechanism modules 4 to 6, but the drive control devices S1 to S are provided.
The effect of the present invention can be obtained by providing a driving force transmission mechanism and transmission paths for electric power and signals instead of 3. Further, although the track 1 has been described as being installed on the floor, the effects of the present invention can be obtained even if it is a floor filling method, a ceiling suspension method, a wall hanging method, or the like. Further, the assembling arm device 9 and the first and second to second assembling arms 1 which constitute the robot assembling apparatus 300.
By configuring 0, 11 and the gripping device 12 and the like with exchange drive mechanism modules that are separably connected to each other, and configuring the robot 100 so that the exchange drive mechanism modules can be exchanged on the track 1. Since the work range that the robot 100 can perform can be expanded, work efficiency can be further improved. In addition, the traveling device 3
Although the work drive mechanism module has been described above, for example, the second work drive mechanism module 4 is used.
, Which is configured to be directly mounted on the track 1 to move a chain, a gear, or the like, or a configuration in which the traveling device 3 is incorporated in the second work drive mechanism module 4, The effects of this invention are available.

Embodiment 2 FIG. FIG. 8 is a plan view showing the second embodiment. 8, the same reference numerals as those in FIG. 1 are the same. 111 to 113 are robots 1 in FIG.
A robot corresponding to No. 00, three units are provided so as to be movable along the track 1, and a product (not shown) can be assembled on the work table 2 in cooperation with the three units. . In addition, the block diagram of the control system is basically shown in FIG.
It is the same as, and because it consists of three robots,
In the configuration shown in FIG. 7, two more robots are added. In the work by the robot device, it is usually necessary to replace the work drive mechanism modules 3 to 4 multiple times. In such a case, the task control device 42 appropriately uses the stored program to appropriately replace the module replacement device 200 and the work drive mechanism modules 4 to 6 at that time during the work process.
~ 113 to drive the work drive mechanism module 4
Let ~ 6 be replaced. In the work after the replacement, the task control device 42 is operated based on the shape data stored in the second to fourth work drive mechanism modules 4 to 6.
Is corrected to the work drive mechanism modules 4 to 6, it is not necessary to relearn the exchanged robots 111 to 113. For this reason, it becomes possible to automatically replace the drive mechanism module for work that has a failure, which has the effect of building a highly reliable production line, and it is possible to save maintenance and labor in a normal factory or to perform continuous unmanned operation alone. Instead, it can be used in unmanned factories in extreme environments such as the deep sea and space.

In this way, a plurality of robots 11 are arranged on the track 1.
In the robot apparatus provided with Nos. 1 to 113, a plurality of robots 111 to 113 work together, so that the loss time is small and the work efficiency is extremely good. Further, since the plurality of robots 111 to 113 are provided, the work drive mechanism modules 4 to 6 need to be replaced less frequently, and, for example, the robot 111 uses the module replacement device 20.
Even when assembling with 0, work can be performed with the other robots 112 and 113, so that work efficiency is extremely good.

Embodiment 3. FIG. 9 is a plan view of the robot working apparatus according to the third embodiment. In FIG. 9, 121-
Reference numeral 127 denotes a robot apparatus, the configuration of which is the same as that in FIG. 1, and those having the same reference numerals are equivalent to those in FIG. B1-B
Reference numeral 12 is a buffer area in which parts or intermediate products (not shown; hereinafter referred to as parts), which are work objects to be worked by the robot devices 121 to 127, are temporarily stocked. Buffer areas B1 to B12 include buffer area B
There are provided third visioners V1 to V12 (shown in FIG. 10) for monitoring the number of parts carried into 1 to B12 and the staying condition. The arrangement of the robot devices 121 to 127 and the buffer areas B1 to B12 is as shown in FIG. That is, the robot devices 121 to 126 are arranged so as to surround the robot device 127, and the buffer areas B1 to B are provided between the robot devices 121 to 127 facing each other in the radial direction and the circumferential direction with the robot device 127 as the center.
12 are arranged. As a result, the buffer area B1
~ B12 so that the two robot devices 121-127 can work on the components carried into one device, the two robot devices 121-127 have one buffer area B1-
It is arranged adjacent to B12.

FIG. 10 is a block diagram showing the control system of the third embodiment. Each of the robot devices 121 to 127 is provided with a motor, an encoder, and a servo controller as shown in FIG. 7, and is configured to operate according to a command transmitted from the task control devices T1 to T7. Further, the robot devices 121 to 127 are provided with operation monitors D1 to D17 for monitoring whether or not the robot devices 121 to 127 are normally operating according to the instructions of the task control devices T1 to T7. V1 to V12 are buffer areas B1 to B1
The third visual sensor provided in No. 2 monitors the accumulation status of the parts and the intermediate products in the buffer areas B1 to B12. 45 is each task control device T1 to T7
It is a general task control device that issues a command to control the work of the entire robot work device. The general task control device 45 is configured to issue a command when the operation of each robot device 121 to 127 is related to each robot device 121 to 127. That is, the total task control device 45 transmits information from the third visual sensors V1 to V17, such as the number of stocks of parts in the buffer areas B1 to B12, the staying time, the free time, or the operation monitors D1 to D7. Robot device 121
To 127 of the task control devices T1 to T
Command 7

The operation of the third embodiment will be described. Three types of product A, product B, and product C with different assembly work contents
A case of assembling (not shown) in parallel will be described. When there are many assembly work steps for each product A, product B, and product C, one robot device is assigned to each product A, product B, product C, and one type of product is created from the beginning by one robot device. If it is assembled to the end, there will be a lot of loss for exchanging the work drive mechanism module, resulting in poor work efficiency.
Therefore, the work processes of each product A, product B, and product C are divided, and the robot devices 121 to 12 are divided for each of the divided work processes.
7 is prepared and the divided work steps are assigned to the robot apparatuses 121 to 127 suitable for performing the work steps,
The work efficiency can be improved as a whole of the assembly work of the products A, B, and C. The general task control device 45 allocates the divided work processes for each product A, product B, and product C to the robot devices 121 to 127, and the robot devices 12 to 127 are assigned to each of the robot devices 12 to 127.
Commands 1 to 127 are transmitted to the task control devices T1 to T7 so as to perform the assigned work. In this way, the assembly work paths for the products A, B, and C are set as shown by the alternate long and short dash lines 46, 47, and 48 in FIG. In response to the command from the general task control device 45, the task control devices T1 to T7 command the robot devices 121 to 127 so that the robot devices 121 to 127 perform the assembling work within the designated work range. Send.

In the assembling work, the component a is transferred to the buffer area B1, the component b is transferred to the buffer area B6, and the component c is transferred to the buffer area B11.
Brought in by. The assembled product A is unloaded from the buffer area B2, the product B is unloaded from the buffer area B7, and the product C is unloaded from the buffer area B12 by the transport device. Although multiple types of parts b are used for product B. For example, for the part b that is necessary for the robot device 127 for the first time, the robot device 124 acts as a transfer device to move the part b from the buffer area B6 to the buffer area B6.
To 8. In this way, an assembly line for multi-product mixed flow production is constructed. The total task control device 45 uses the third visual sensors V1 to V12 to control the buffer area B.
The accumulation status of the components 1 to B12 is monitored. For example, when an extremely large number of components b start to accumulate in the buffer area B6, the accumulation status of the entire buffer areas B1 to B12 is analyzed to, for example, a robot. The change of the assembly work of the product B of the device 124 to the robot device 122 is transmitted to the task control devices T2, T4 and T7. The task control devices T2, T4 and T7 send commands to the robot devices 122, 124 and 127 to change the work content. By this command, as described in the first embodiment, the work drive mechanism modules 4, 5, and 6 of the robot devices 122, 124, and 127 are adapted to the changed work contents as necessary. Will be replaced automatically.
As a result, a part of the assembly route of the product B is changed as shown by the broken line 49.

Further, for example, when an abnormality occurs in the robot device 126 and it becomes impossible to produce the product C, the general task control device 45 detects this by the operation monitor D6 and stays in all the buffer areas B1 to B12. The situation is analyzed, and a command is transmitted to the task control devices T4 to T7 to change the assembly work of the product C of the robot device 126 to the robot device 127. Also in this case, as in the case where the component b stays in the buffer area B6, the work drive mechanism modules 4 to 5 of the robot devices 124 to 127 are replaced as necessary to adapt to the changed work content. In this way, the assembly route of the product C is changed as shown by the broken line 50. As a result, although the production amounts of the product A and the product B are reduced, the situation where the production of the product C is stopped is avoided. On the other hand, the robot device 126 in which the abnormality has occurred
The module replacement device 200 automatically replaces the defective working drive mechanism modules 4.5 and 6. When the robot device 126 is repaired so that it can operate normally, the general task control device 45 detects this and restores the work paths of the products A, B, and C to the original state. In the above description, the general task control device 45 issues a command to the task control devices T1 to T7,
In response to this command, the task control devices T1 to T7 are configured to issue commands to the robot devices 121 to 127.
To 127 by directly controlling the operation of the task control device T1.
Even if it is configured to issue a command to the robot devices 121 to 127 without passing through T7, the effect of the present invention is obtained. Further, in FIG. 6, a robot device (not shown) is further enhanced so that the periphery of each of the robot devices 121 to 127 and the six robot devices are surrounded by each other so that the work path is lengthened and the work having many work steps is performed. Will be available.

Fourth Embodiment FIG. 11 is a plan view of the robot working device according to the fourth embodiment. In the figure, 128-
141 is a robot apparatus. As shown in FIG. 11, the robot device 128 has two orbits 51 arranged in parallel,
A lobobot 100 movably provided on each track 51, a module exchange device 200 arranged at an end of the track 51,
The work table 2 is arranged between the tracks 51. The robot device 128 is provided with an operation monitor (not shown) that can check whether the robot device 128 is operating normally. The basic configuration and function of the robot device 128 are the same as those of the robot device 100 shown in FIG.
Further, the robot devices 129 to 129 other than the robot device 128
The basic configuration of 141 is the same as that of the robot device 128. B13 to B21 are buffer areas in which parts or intermediate products (not shown; hereinafter referred to as parts), which are works to be worked by the robot devices 128 to 141, are temporarily stocked. The buffer areas B13 to B21 are provided with a fourth vision sensor (not shown) that monitors the number of parts carried into the buffer areas B13 to B21 and the staying status. Robot devices 128-141
The buffer areas B13 to B21 are alternately arranged in the horizontal direction of FIG. 11, and are also alternately arranged in a direction substantially perpendicular to the horizontal direction (vertical direction). As a result,
Two or more robot devices 12 so that at least two of the robot devices 128 to 141 can work on the components carried into one of the buffer areas B13 to B21.
8 to 141 are arranged adjacent to one buffer area B13 to B21.

In the robot working apparatus according to the fourth embodiment, as in the robot working apparatus according to the third embodiment, a general task control apparatus (not shown) having the same function as that of the general task control apparatus is provided. A control system similar to that of No. 4 is formed. When assembling the products A, B, and C in parallel, for example, the assembly work paths of the products A, B, and C are set as shown by the one-dot chain lines 52, 53, and 54. In this case, the part a goes to the buffer area B13,
The part b is carried into the buffer area B19 and the part C is carried into the buffer area B19 by a carrying device (not shown). Assembled product A is buffer area B15
Therefore, the product B is unloaded from the buffer area B18 and the product C is unloaded from the buffer area B21 by the transport device. The basic operation in the fourth embodiment is the same as the operation in the third embodiment. That is, the buffer area B
When a product starts to stagnate in any of 13 to B21 or an abnormality occurs in any of the robot devices 128 to 141, and production of any of the products A, B, and C becomes impossible. In addition, the comprehensive task control device automatically detects these abnormalities and sends a command to the task control device to change the assembly work route to prevent a decrease in production efficiency or stop the production of a specific product. Stop doing.

In this case, four robot devices 128, 129, 130 and 132 are adjacent to the buffer area B14, and four robot devices 1 are provided in the buffer area B17.
32, 134, 135 and 137 are adjacent to each other, and four robot devices 137, 139, 1 are provided in the buffer area B20.
Since 40 and 141 are adjacent to each other, each can flexibly deal with the case where the parts are stagnant in the buffer areas B14, B17 and B20.

[0033]

As described above, according to the first aspect of the invention, the robot is composed of a plurality of work drive mechanism modules that are separably connected to each other, and the work drive mechanism modules are connected and separated. A robot assembling device is provided to connect between the work drive mechanism modules by the magnetic attraction force generated by the magnetic flux generating means of the module connecting device.
Since the module detaching device having the detaching coil for controlling the magnetic attraction force by generating the magnetic flux magnetically coupled to the magnetic flux generated by the magnetic flux generating means is provided, the impact force at the time of coupling between the working drive mechanism modules is provided. Since it is possible to alleviate the problem and facilitate the separating operation, it is possible to quickly replace the work drive mechanism module and improve the work efficiency.

Further, according to the second invention, since the magnetic flux generating means in the first invention is constituted by a permanent magnet, the structure of the magnetic flux generating means can be made simple and compact.
According to a third aspect of the present invention, in the configuration of the first and second aspects of the present invention, a fitting member that forms a magnetic path of the magnetic flux generated by the magnetic flux generating means in the module coupling device and that can be fitted with the release coil. Since the module disengagement device is arranged independently of the robot and the disengagement coil is fitted to the fitting member when the magnetic attraction force is controlled, the disengagement coil is attached to the robot while the robot is working. The robot can be made smaller and lighter by separating it from the
The work drive mechanism module can be replaced quickly, and the work efficiency of the robot can be improved.

According to the fourth aspect of the invention, in the configuration of the first to third aspects of the invention, the module disengaging device is configured to interlock with the robot assembling device, so that the robots can be separated and assembled quickly. At the same time, the work efficiency of the robot device can be improved. According to the fifth aspect of the invention, the work drive mechanism module of the robot is provided by the module exchanging device, the robot including the plurality of work drive mechanism modules connected to each other so as to be separable from each other so that the robot can travel on the track. Since the task control device is configured to control the operation of the robot and the module exchanging device while being replaceable on the trajectory, the position of the robot can be quickly and accurately controlled by the task control device. Further, since the work drive mechanism module can be exchanged according to the work content of the robot by the module exchanging device, it is possible to perform various kinds of work without changing the layout of the work area.

According to the sixth aspect of the invention, in the configuration of the fifth aspect of the invention, the traveling device for moving the robot along the trajectory is constituted by one of the plurality of work drive mechanism modules. The traveling device can be exchanged according to the content of the work, and the work efficiency can be improved even when there are many kinds of work pieces. Further, according to the seventh invention, the traveling device in the sixth invention can be attached to and removed from the track by the module exchanging device.
The traveling device can be easily replaced. Also, the eighth
According to the invention, in the above fifth to seventh inventions, at least one of the working drive mechanism modules drives the working drive mechanism module, and a drive for controlling the operation of the driving means. Since the task control device drives the work drive mechanism module by providing the control device with a command sent to the drive control device,
The drive control device can correct the command of the task control device according to the operating state of the drive device to control the drive device,
It is possible to properly operate the work drive mechanism module when the work drive mechanism module is replaced.

Further, according to the ninth invention, in the above-mentioned fifth to eighth inventions, the track is formed in a circular shape, and the work table on which the robot works is arranged inside the track. Since the work can be performed from around the robot, the work is easy, and the control of the robot is easy because the distance between the robot and the work table does not change significantly even when the robot is moved. According to the tenth aspect of the invention, in the configurations of the fifth to eighth aspects of the invention, two orbits are arranged substantially in parallel at intervals and a work table for the robot to work is arranged between the orbits. Since it is possible to work from both sides of the work table, it is easy to work,
In addition, the floor surface can be effectively used to make it compact.
According to an eleventh invention, in the above-mentioned fifth to tenth inventions, the module exchanging device is constituted by a plurality of exchanging drive mechanism modules which are detachably connected to each other, and the robot is exchanging. Since the drive mechanism modules can be connected and disconnected, a module exchanging device according to the shape of the work drive mechanism module can be configured to efficiently perform the exchanging operation of the work drive mechanism module. .

According to the twelfth invention, the fifth to fifth inventions described above are provided.
In addition to the configuration of the eleventh invention, a module coupling device that has magnetic flux generating means and couples the work drive mechanism modules with a magnetic attraction force, and a magnetic flux that is magnetically coupled to the magnetic flux generated by the magnetic flux generating means. Since the module disengagement device having the disengagement coil for controlling the magnetic attraction force generated is provided,
The position of the robot can be quickly and accurately controlled by the task control device, the impact force at the time of connecting the work drive mechanism modules can be mitigated, and the separating operation can be facilitated. Also, the work drive mechanism module can be easily replaced by the module replacement device, and the work efficiency can be improved even when there are many kinds of work objects. According to the thirteenth invention, since the magnetic flux generating means in the configuration of the twelfth invention is composed of a permanent magnet, the configuration of the magnetic flux generating means can be made simple and small. According to a fourteenth invention, the module coupling device in the configuration of the twelfth and thirteenth inventions is provided in at least one of the working drive mechanism modules, and has a magnetic path of the magnetic flux generated by the magnetic flux generating means. The separating coil is formed and has a fitting member capable of fitting the separating coil, and the module detaching device is arranged independently of the robot and fits the separating coil to the fitting member when controlling the magnetic attraction force. The robot can be made smaller and lighter by disconnecting the separation coil from the robot while the robot is working, and the work drive mechanism module can be replaced quickly, and the work piece can be of various types. Even if there is, work efficiency can be improved.

Further, according to the fifteenth invention, since a plurality of robots in the configurations of the fifth and fourteenth inventions are provided on the track, the plurality of robots work in cooperation with each other, so that the loss time is reduced. Efficiency is improved. Also, since multiple robots are provided on the track, the frequency of exchanging the drive mechanism module for work can be reduced, and even if one robot is being assembled by the module exchanging device, work can be performed by other robots. It is possible to improve work efficiency. Further, according to the sixteenth invention, since a plurality of module exchanging devices in the configuration of the fifteenth invention are provided, it is possible to simultaneously perform assembly and disassembly work of a plurality of robots, and robot assembly and disassembly work efficiency. Can be improved. Further, according to the robot working apparatus of the seventeenth invention, a plurality of robot apparatuses, a plurality of buffer areas capable of stocking work pieces, and a general task control apparatus are provided, and each of the buffer areas stocks a work piece. Two or more robot devices are arranged adjacent to one buffer area so that at least two robot devices can work on the work, and the general task control device operates from the robot device adjacent to the buffer area. Since it is configured to select a robot device to perform a command and to issue a command, it is possible to select a robot device to work according to the load of the robot device, so that the robot device can be effectively operated and work efficiency can be improved. .

According to the eighteenth invention, the seventeenth aspect is provided.
In the invention, at least three robot devices are arranged so as to surround at least one robot device, and a buffer area is arranged between the surrounded robot devices and the enclosed robot devices. By doing so, at least two robot devices can work on the workpieces that are stocked in the respective buffer areas, so that it is possible to flexibly set a plurality of work routes and improve work efficiency. I can.
According to the nineteenth invention, in the seventeenth invention, the robot device and the buffer area are alternately arranged adjacent to each other in a predetermined direction, and also adjacent to each other in a direction substantially perpendicular to the predetermined direction. , At least 2 for each work stock in each buffer area
Since the robot device of one stand can work, it is possible to flexibly set a plurality of work paths, improve work efficiency, and effectively use the work space. According to the twentieth invention, the seventeenth to the first
The robot apparatus according to the structure of the invention of claim 9 comprises: a trajectory, a robot configured of a plurality of work drive mechanism modules that are separably connected to each other and movable along the trajectory, and a work drive mechanism module in the trajectory. It is configured so that the integrated task control device issues a command to the robot device to control the operation of the robot device. By exchanging the work drive mechanism module, various kinds of work can be performed without changing the layout of the work area. In addition, the robot device can be effectively operated to improve work efficiency.

According to the twenty-first aspect, the twentieth aspect described above.
In addition to the invention described above, a task control device is provided corresponding to each robot device to control the operation of the corresponding robot device, and each task control device receives a command from the general task control device and issues a command to the robot device. Since it is configured so as to output, it is possible to easily control each robot device. According to the twenty-second aspect, the twentieth and twenty-first aspects are provided.
In addition to the configuration of the invention of claim 1, a module connecting device having magnetic flux generating means for connecting between the working drive mechanism modules by a magnetic attractive force, and a magnetic flux magnetically coupled to the magnetic flux generated by the magnetic flux generating means are generated. Since the module detaching device having the detaching coil for controlling the magnetic attraction force is provided, the impact force at the time of connecting the working drive mechanism modules can be mitigated and the separating operation can be facilitated. It is possible to quickly replace the drive mechanism module and improve work efficiency. According to a twenty-third aspect of the invention, the module coupling device having the configuration of the twenty-second aspect is provided in at least one of the working drive mechanism modules, and forms and separates the magnetic path of the magnetic flux generated by the magnetic flux generating means. The coil has a fitting member capable of fitting, and the module disengagement device is arranged independently of the robot to fit the separation coil to the fitting member when controlling the magnetic attraction force. Since it is configured, the robot can be made compact and lightweight by separating the separation coil from the robot while the robot is working, and the work drive mechanism module can be replaced quickly, and when there are many types of workpieces. Can improve work efficiency.

According to the twenty-fourth aspect, the seventeenth aspect described above.
In the configurations of the inventions to 23 to 23, the general task device sets the work sharing performed by each robot device, issues a command to each robot device, and detects any failure of each robot device, Since it is configured to issue a command to the robot device to transfer the work to the other robot device, it is possible to change the work route and continue production when an abnormality occurs in the robot device. The decrease in efficiency can be reduced. According to the twenty-fifth aspect of the invention, in the configuration of the seventeenth to twenty-third aspects of the invention, the general task device sets the work sharing performed by each robot device and issues a command to each robot device, and at the same time the buffer area is covered. It is configured to issue a command to each robot device to detect the stay status of the work and change the previously set work assignment according to the stay status of the work piece. Can be operated to improve work efficiency.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of a robot apparatus according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing a replacement operation by the module replacement device of the robot apparatus according to the first embodiment of the present invention.

FIG. 3 is a perspective view showing a third coil support arm of the robot apparatus according to the first embodiment of the present invention.

FIG. 4 is a cross-sectional view showing a second work drive mechanism module and a portion to which the second work drive mechanism module is connected in the robot apparatus according to the first embodiment of the present invention.

FIG. 5 is an exploded view of the module coupling device of the robot device according to the first embodiment of the present invention.

FIG. 6 is a plan view of the module coupling device of the robot device according to the first embodiment of the present invention.

FIG. 7 is a block diagram showing a control system of the robot apparatus according to the first embodiment of the present invention.

FIG. 8 is a schematic plan view of the robot apparatus according to the second embodiment of the present invention.

FIG. 9 is a plan view of a robot working device according to a third embodiment of the present invention.

FIG. 10 is a block diagram showing a control system of a robot working device according to a third embodiment of the present invention.

FIG. 11 is a plan view of the robot working device according to the fourth embodiment of the present invention.

FIG. 12 is a perspective view of a conventional robot device.

[Explanation of symbols]

1 orbit, 2 work table, 3 traveling device, 4 second
Drive mechanism module for work, 5 third drive mechanism module for work, 6 fourth drive mechanism module for work,
9 Assembly arm device, 10 1st assembly arm
11 second assembly arm, 12 gripping device, 13 gripping hand, 14 first vision sensor, 15 detaching arm device, 16 first coil support arm, 17 second coil support arm, 18 third coil Support arm, 19 parallel arms, 20 release coil, 21 is a working drive mechanism module, 22 cover device, 23 second
Vision sensor, 24 first support frame, 26 rotation axis,
27 speed reducer, 28 fixed link part, 29 rotation input part, 30 rotation output part, 32 times connecting shaft part, 33 cross roller bearing, 34 first magnetic body, 35 connecting part, 36
Fitting part, 37 Second support frame, 38 Step part, 39 Second magnetic body, 40 Permanent magnet, 41 Module coupling device, 42 Task control device, 43 Communication line, 44
Power supply line, 45 integrated task control device, 46 to 50
Work route, 51 trajectories, 100-113 robots, 12
1 to 141 robot device, 200 module exchange device, 300 robot assembly device, 400 module release device, 500 module storage device, B1 to B21
Buffer area, E1 to E8 encoder, K1 to K7
Drive control device, M1 to M8 motor, S1 to S7 servo controller, T1 to T12 task control device, V1
~ V12 Third vision sensor.

Claims (25)

[Claims] 1. A robot having a plurality of work drive mechanism modules that are detachably connected to each other, a robot assembly device for connecting and separating work drive mechanism modules, and a work drive mechanism module. A module connecting device having magnetic flux generating means provided on at least one side for connecting the working drive mechanism modules by a magnetic attraction force, and generating a magnetic flux magnetically coupled to the magnetic flux generated by the magnetic flux generating means. A robot apparatus comprising a module detaching device having a detaching coil for controlling the magnetic attraction force. 2. The robot apparatus according to claim 1, wherein the magnetic flux generating means is a permanent magnet. 3. The module connecting device is provided in at least one of the working drive mechanism modules, and has a fitting member which forms a magnetic path of the magnetic flux generated by the magnetic flux generating means and into which the disengagement coil can be fitted. The robot module according to claim 1 or 2, wherein the module detaching device is arranged independently of the robot, and the detaching coil is fitted to the fitting member when controlling the magnetic attraction force. . 4. The robot apparatus according to claim 3, wherein the module detaching apparatus is interlocked with a robot assembling apparatus. 5. A robot comprising a track and a plurality of work drive mechanism modules that are separably connected to each other and movable along the track, and a module exchange for replacing the work drive mechanism module on the track. An apparatus, a robot apparatus comprising a task control apparatus for controlling the operations of the robot and the module exchanging apparatus. 6. The driving device according to claim 5, wherein one of the plurality of work drive mechanism modules is a traveling device that supports another work drive mechanism module and moves along a track. Robotic device. 7. The robot apparatus according to claim 6, wherein the traveling device is attachable to and detachable from the track by a module exchanging device. 8. At least one of the work drive mechanism modules has a drive means and a drive control device for controlling the operation of the drive means, and the task control device transmits a command to the drive control device. The robot apparatus according to any one of claims 5 to 7, wherein: 9. The robot apparatus according to claim 5, wherein the track is formed in a circular shape, and a work table on which the robot works is arranged inside the track. 10. The track according to claim 5, wherein two orbits are arranged substantially parallel to each other with a space therebetween, and a work table on which the robot works is arranged between the tracks. Robot device described. 11. The module exchanging device comprises a plurality of exchanging drive mechanism modules that are detachably connected to each other, and the robot device is capable of connecting and disconnecting the exchanging drive mechanism modules. Claim 5
The robot apparatus according to claim 10. 12. A module connecting device having magnetic flux generating means for connecting the working drive mechanism modules by magnetic attraction, and generating a magnetic flux magnetically coupled to the magnetic flux generated by the magnetic flux generating means. The module removing device having a removing coil for controlling the magnetic attraction force is provided, and the robot device according to any one of claims 5 to 11. 13. The robot apparatus according to claim 12, wherein the magnetic flux generating means is a permanent magnet. 14. The module connecting device is provided in at least one of the working drive mechanism modules, and has a fitting member which forms a magnetic path of the magnetic flux generated by the magnetic flux generating means and into which the separation coil can be fitted. 14. The robot apparatus according to claim 12, wherein the module detaching device is arranged independently of the robot, and the separating coil is fitted to the fitting member when controlling the magnetic attraction force. . 15. The robot apparatus according to claim 5, wherein a plurality of robots are provided on the track. 16. The robot apparatus according to claim 15, wherein a plurality of module exchanging devices are provided. 17. A plurality of robot devices, a plurality of buffer areas capable of stocking work objects, and a general task control device, wherein at least two work areas are stocked in each buffer area. Of the robot devices, two or more robot devices are arranged adjacent to one buffer area and the total task control device is arranged adjacent to the buffer area so that one robot device can work. A robot working device, characterized in that it selects the above robot device to work from and outputs a command. 18. Three or more robot devices are arranged so as to surround at least one robot device, and the robot device is surrounded by the robot device, and the robot device is surrounded by the robot device. The robot working apparatus according to claim 17, wherein a buffer area is arranged. 19. The robot work according to claim 17, wherein the robot device and the buffer area are alternately arranged adjacent to each other in a predetermined direction and also adjacent to each other in a direction substantially perpendicular to the predetermined direction. apparatus. 20. A robot apparatus comprising a trajectory and a plurality of work drive mechanism modules that are detachably connected to each other, and is movable along the trajectory, and the work drive mechanism on the trajectory. 20. A robot according to any one of claims 17 to 19, further comprising a module exchanging device for exchanging modules, wherein the general task control device issues a command to the robot device to control the operation of the robot device. Working equipment. 21. The robot apparatus comprises a task control apparatus for controlling the operation of the robot and the module exchanging apparatus,
21. The robot work device according to claim 20, wherein the comprehensive task control issues a command to the task control device. 22. A module connecting device having magnetic flux generating means for connecting the working drive mechanism modules by a magnetic attraction force, and generating a magnetic flux magnetically coupled to the magnetic flux generated by the magnetic flux generating means. 22. The robot working apparatus according to claim 20, further comprising a module detaching device having a detaching coil that controls the magnetic attraction force. 23. The module coupling device is provided in at least one of the working drive mechanism modules, and has a fitting member which forms a magnetic path of the magnetic flux generated by the magnetic flux generating means and into which the separation coil can be fitted, 23. The robot working apparatus according to claim 22, wherein the module detaching device is arranged independently of the robot, and the separating coil is fitted to the fitting member when controlling the magnetic attraction force. 24. When the general task device sets a work share to be performed by each robot device, issues a command to each robot device, and detects a failure of any of the robot devices, 24. The robot working apparatus according to claim 17, wherein the robot working apparatus issues a command to transfer the work to the other robot apparatus. 25. The general task device sets the work sharing performed by each robot device, issues a command to each robot device, and detects the staying condition of the work object in the buffer area to stay the work object. 24. The robot work device according to claim 17, wherein a command is issued to each of the robot devices so as to change the work assignment set in advance according to a situation.