Carrying device, and control method of carrying device

Abstract

To realize an assembly production line that is not easily damaged, a carrying device (10) for carrying a work robot (1) that performs work on a carried object (100) is provided with: a placement portion (13) that places the work robot (1); a carrying portion (14) that moves in the same direction as the carrying direction of the object (100) at the same speed as the carrying speed of the object; and a coupling portion (11) that couples the placement portion (13) and the carrying portion (14) to each other, and the coupling portion (11) has a floating mechanism (12) that allows movement of the placement portion (13) and the carrying portion (14) relative to each other in a direction parallel to the carrying direction.

Description

Technical Field

[0001] This invention relates to a handling device for moving work robots that are operating in assembly lines or the like. Background Technology

[0002] In automotive assembly lines, car bodies are transported by conveyor belts while assembly robots perform the assembly. The assembly robot moves at the same speed as the car body transport, docking a portion of its own components with a portion of the car body to perform the assembly.

[0003] For example, Patent Document 1 discloses a device with a floating section that allows the supply shaft to move in both the horizontal and vertical directions in bolt and nut supply devices used in automobile assembly lines, etc.

[0004] (Existing technical documents) Patent Document 1: Japanese Patent Application Publication No. 2002-254258 Summary of the Invention

[0005] (The problem the invention aims to solve) As mentioned above, during the assembly process, the vehicle body and the assembly robot need to be partially docked. If, during this docking process, the movement of the vehicle body or the assembly robot stops for any reason, the different stopping distances of the vehicle body and the assembly robot will cause a positional shift between them. Therefore, either the vehicle body or the assembly robot may be damaged.

[0006] Patent Document 1 makes no mention of the damage caused by the positional shift between the vehicle body and the assembly robot.

[0007] This disclosure was made in view of the above-mentioned problems, with the aim of realizing a handling device for an assembly robot that is not easily damaged even if there is a positional shift between the vehicle body and the assembly robot.

[0008] (Technical means used to solve the problem) To address the aforementioned problems, one aspect of this disclosure relates to a handling device for handling a work robot, wherein the work robot performs work on an object being handled. The handling device comprises: a mounting section for mounting the work robot; a handling section that moves in the same direction as the handling direction of the object and at the same handling speed as the object; and a connecting section that connects the mounting section and the handling section to each other, wherein the connecting section has: a floating mechanism that allows the mounting section and the handling section to move relative to each other in a direction parallel to the handling direction.

[0009] To address the aforementioned problems, another aspect of this disclosure relates to a control method for a handling device used in a handling robot. The handling robot performs operations on an object being handled. The handling device includes: a mounting section for mounting the robot; a handling section that moves in the same direction as the handling direction of the object and at the same handling speed as the object; and a connecting section that connects the mounting section and the handling section. The connecting section includes a floating mechanism that allows movement between the mounting section and the handling section along the handling direction. The handling device further includes a limiting mechanism control section that controls the limiting mechanism's restriction on the floating function of the floating mechanism. The control method includes: a detection step where the limiting mechanism control section detects an abnormality during the operation; and a release step where the limiting mechanism control section releases the restriction imposed by the limiting mechanism when the abnormality is detected.

[0010] (Invention Effects) According to one aspect of this disclosure, it is possible to prevent damage to objects or operating robots. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the conveying device and controller involved in the embodiments disclosed herein.

[0012] Figure 2 This is another schematic diagram of a controller.

[0013] Figure 3 This is a simplified diagram of an example of a restrictive mechanism.

[0014] Figure 4 This is a simplified diagram of another example of a restrictive mechanism.

[0015] Figure 5 This is a simplified diagram of yet another example of a restrictive mechanism.

[0016] Figure 6 This is a flowchart of the restriction processing performed by the restriction agency control department.

[0017] <Explanation of Figure Markers> 1. Work Robot 10. Handling device 11 Joint 12 Floating Mechanism 121 Part 1 21. Protrusion 211 Conical part 212 Force Unit 122 Part 2 22. Plate section 221 hole 13. Loading section 14. Transport Department 20 Restricted Agencies 30. Restriction Agency Control Department 31. Testing Department 32 Force Control Unit 50 controllers 100 objects Detailed Implementation

[0018] The following describes one embodiment of this disclosure in detail. Figure 1 This is a schematic diagram of an example production line that includes the conveying device 10 according to this embodiment. Here, as an example of a production line, an automobile assembly line is shown.

[0019] The conveying device 10 is used to transport the work robot 1, which performs operations on the object 100 on the assembly line. Through the conveying device 10, the work robot 1 is transported at the same speed and in the same direction as the object 100, and performs operations on the object 100. Since the object 100 and the work robot 1 move in the same direction and at the same speed, the work robot 1 can properly perform operations on the object 100.

[0020] like Figure 1 As shown, the conveying device 10 includes a mounting part 13, a connecting part 11, and a conveying part 14.

[0021] The mounting section 13 is for mounting the work robot 1. The transport section 14 is used to move in the same direction as the transport direction of the object 100 and at the same transport speed as the object. The connecting section 11 is used to connect the mounting section 13 and the transport section 14 to each other, and includes a floating mechanism 12 and a restraining mechanism 20.

[0022] The floating mechanism 12 is used to allow the mounting section 13 and the transport section 14 to move in a direction parallel to the transport direction.

[0023] The limiting mechanism 20 is used to limit the floating function of the floating mechanism 12. When the floating function of the floating mechanism 12 is limited by the limiting mechanism 20, the mounting section 13 and the transport section 14 are connected without clearance. On the other hand, when the floating function of the floating mechanism 12 is not limited by the limiting mechanism 20, the mounting section 13 and the transport section 14 are connected with clearance in the transport direction. That is, the allowable mutual movement distance of the floating mechanism 12 over the mounting section 13 and the transport section 14 is equivalent to the allowable positional offset between the mounting section 13 and the transport section 14. Hereinafter, the floating function of the floating mechanism 12 will be limited, or simply referred to as limiting the floating mechanism 12. In addition, the limitation on the floating function of the floating mechanism 12 will be lifted, or simply referred to as lifting the limitation on the floating mechanism 12.

[0024] In addition, a separate controller 50 is provided for overall control of the assembly line. The controller 50 includes a limit mechanism control unit 30. The limit mechanism control unit 30 is used to control whether the limit mechanism 20 limits the floating mechanism 12.

[0025] As an example, the restriction mechanism control unit 30 may also release the restriction imposed by the restriction mechanism 20 on the floating mechanism 12 if any of the following conditions (1) to (3) are met.

[0026] (1) The difference between the transport speed of object 100 and the transport speed of transport unit 14 exceeds the first threshold, or the difference between the current position of object 100 and the current position of work robot 1 exceeds the second threshold.

[0027] (2) An anomaly was detected by the work robot 1.

[0028] (3) A signal about an anomaly was received from the equipment that was handling the object 100.

[0029] Regarding the above condition (1), the transport speed of the object 100 and the transport speed of the robot 1 can be measured using known techniques. The restriction mechanism control unit 30 determines whether the difference between the transport speed of the object 100 and the transport speed of the robot 1, as measured using known techniques, exceeds a first threshold, and releases the restriction imposed by the restriction mechanism 20 if the first threshold is exceeded. For example, the first threshold may be a speed difference that causes 80% of the allowable stress of a specific component to be detected, or a speed difference that causes the relative position error between the object 100 and the transport unit 14 to be ±2 mm or more.

[0030] In addition, the current position of object 100 and the current position of robot 1 can be known, for example, by the following methods.

[0031] • Affix location information tags to each of the object 100 and the working robot 1, and photograph the location information tags using a camera or the like to determine their current location. The location information tags can also be, for example, QR codes (registered trademarks).

[0032] • Use a camera or other means to photograph the object 100 and the working robot 1, thereby determining their current location.

[0033] • Based on the information obtained from the encoder (not shown), the current positions of object 100 and working robot 1 are determined.

[0034] The second threshold could also be, for example, X ± 2 mm. Here, X refers to the difference between the position of the object 100 and the position of the robot 1 when the operation can be performed smoothly and without errors.

[0035] Regarding condition (2) above, the robot 1 may also consider an anomaly detected if an abnormal value is detected by the force sensor (not shown) in the connection part (not shown) that connects it to the object 100. Alternatively, an anomaly may be considered detected if the current value associated with the actions performed by the robot 1 during operation becomes abnormal. Furthermore, an anomaly may be considered detected if various values ​​(e.g., current value, torque value) measured during the operation of the robot 1 become abnormal. Additionally, an anomaly may be considered detected if the torque value of the motor (not shown) provided by the robot 1 becomes abnormal.

[0036] Regarding condition (3) above, there are no particular limitations on the content of the anomaly or the signals related to the anomaly. For example, events that are considered abnormal can be preset, and signals related to the anomaly can be received when the event occurs.

[0037] If the limiting mechanism 20 employs a method of limiting by a force (described later), the limiting mechanism control unit 30 can control the limiting action of the limiting mechanism 20 by controlling this force. Alternatively, if the limiting mechanism 20 is implemented using an electromagnet, the limiting action of the limiting mechanism 20 can be controlled by controlling the current supplied to the electromagnet.

[0038] Figure 2 Controller 50A is shown as another example of controller 50. In Figure 2 In the example of the controller 50A shown, the limiting mechanism control unit 30A includes a detection unit 31 and a force control unit 32.

[0039] The detection unit 31 is used to detect abnormalities in the assembly line during operation. An abnormality in the assembly line can also be a condition (removal condition) used by the restriction mechanism control unit 30 to release the restriction. That is, the restriction mechanism control unit 30 can also detect the fulfillment of the release condition through the detection unit 31, and thereby release the restriction imposed by the restriction mechanism 20.

[0040] The force control unit 32 controls the force of the force unit 212 (described later) in the limiting mechanism 20. Specifically, when the detection unit 31 detects an abnormality, the force control unit 32 controls the force of the force unit 212 to release the restriction imposed by the limiting mechanism 20. As described later, when the limiting mechanism 20 restricts the floating mechanism 12 through the force of the force unit 212, the restriction imposed by the limiting mechanism 20 can be controlled by controlling the force of the force unit 212. For example, the force can be controlled above a preset value (a predetermined value), and the restriction can be released by making the force less than the predetermined value.

[0041] In other words, when the protrusion 21 of the limiting mechanism 20 described later is engaged with the receiving hole 221 and the force is above a predetermined value, the limiting mechanism control unit 30 does not allow the mounting unit 13 and the transport unit 14 to move relative to each other in the transport direction. On the other hand, when the force is less than the predetermined value, the mounting unit 13 and the transport unit 14 are allowed to move relative to each other in the transport direction.

[0042] As described above, the conveying device 10 disclosed herein is a conveying device for a work robot 1 that performs operations on an object 100 being conveyed. The conveying device 10 includes: a mounting section 13 for mounting the work robot 1; a conveying section 14 that moves in the same direction as the conveying direction of the object 100 and at the same speed as the conveying speed of the object; and a connecting section 11 that connects the mounting section 13 and the conveying section 14. The connecting section 11 has a floating mechanism 12 that allows the mounting section 13 and the conveying section 14 to move relative to each other in a direction parallel to the conveying direction.

[0043] In conventional assembly lines, a floating mechanism was not provided for the handling device of the handling robot. However, according to the handling device 10 disclosed herein, a floating mechanism 12 is provided between the mounting section 13 and the handling section 14. The floating mechanism 12 allows for positional displacement between the mounting section 13 and the handling section 14. Therefore, even if the handling of the object 100 stops during operation, and a positional displacement is about to occur between the object 100 and the robot 1, the floating mechanism 12 allows for positional displacement between the mounting section 13 (containing the robot 1) and the handling section 14 (carrying the robot 1). Thus, positional displacement between the object 100 and the robot 1 is absorbed. Consequently, damage to the object 100 or the robot 1 can be prevented.

[0044] Furthermore, by arranging a floating mechanism 12 between the mounting section 13 and the transport section 14, the floating mechanism 12 can allow the mounting section 13 and the transport section 14 to shift relative to each other only in a direction parallel to the transport direction, thus simplifying the structure of the floating mechanism 12.

[0045] [Structural example of restriction mechanism 20] Next, combined Figures 3-5 Let's take an example to illustrate the limitation mechanism 20. Figures 3-5 This is a cross-sectional view of a structural example of the limiting mechanism 20. Figures 3-5 A cross-section of the restraint mechanism 20 (20A, 20B) cut along the transport direction is shown.

[0046] [Structure Example 1] Figure 3 An example structure of the limiting mechanism 20 is shown. Figure 3 301 in the diagram shows the state when the floating mechanism 12 is restricted by the restricting mechanism 20. Figure 3 302 in the diagram shows a state where the restriction imposed by the limiting mechanism 20 has been lifted.

[0047] Regarding the restraint mechanism 20, the floating mechanism 12 includes a first part 121 connected to the mounting part 13 and a second part 122 connected to the transport part 14. The first part 121 has a protrusion 21. The protrusion 21 is subjected to a force toward the second part 122 by a force-applying part 212 and engages with a receiving hole 221 in the second part 122. The force-applying part 212 can, for example, apply force to the protrusion 21 by the thrust of a supplied gas (air, etc.). Alternatively, the force-applying part 212 can also be made of an elastic body such as a spring, and apply force to the protrusion 21 by the restoring force of the elastic body.

[0048] In addition, the side of the protrusion 21 facing the transport direction has a conical surface 211.

[0049] The surface of the receiving hole 221 facing the transport direction is formed to match the conical surface 211 of the protrusion 21.

[0050] The protrusion 21 is subjected to force by the force-applying part 212 and engages with the receiving hole 221, thereby fixing the first part 121 and the second part 122 to each other, thus restricting the floating mechanism 12. This state is the state in which the floating mechanism 12 is restricted.

[0051] On the other hand, the state in which the restriction on the floating mechanism 12 is lifted means that the protrusion 21 can disengage from the receiving hole 221. If the force-applying part 212 applies force by the thrust of air, then by weakening or eliminating the thrust of air, the state in which the protrusion 21 can disengage from the receiving hole 221 can be achieved. If the force-applying part 212 is made of an elastic body, then by applying a force in the opposite direction to the application of the restoring force, the above state can be achieved.

[0052] exist Figure 3 In the example shown, the side of the protrusion 21 facing the transport direction is a conical surface 211, and the surface of the receiving hole 221 also has a shape that matches the conical surface 211 of the protrusion 21. Therefore, the restriction imposed by the restriction mechanism 20 can be released by weakening the force of the force-applying part 212. In addition, by controlling the force, the degree of restriction can be controlled using the restriction mechanism 20; in other words, the allowable offset distance can be controlled.

[0053] As described above, the floating mechanism 12 includes a first part 121 connected to the mounting part 13 and a second part 122 connected to the transport part 14. The first part 121 has a protrusion 21 that tapers in shape and is pressed against the transport part 14 under the variable force of the force unit 212. The second part 122 includes a plate part 22 having a receiving hole 221 into which the protrusion 21 is fitted, the side of the receiving hole 221 being tapered in the direction parallel to the transport direction. The limiting mechanism 20 is implemented by the protrusion 21 and the plate part 22, and is limited by the protrusion 21 fitting into the receiving hole 221 under the force of the force unit 212.

[0054] As described above, the limiting mechanism 20 achieves limiting by interlocking the protrusion 21 and the receiving hole 221 under force. Therefore, when a force is applied in a direction that weakens the force of the limiting mechanism 20 due to some condition, such as the occurrence of an anomaly, the limiting is released. For example, when a force is applied due to an anomaly that causes a shift in the relative position between the object 100 and the working robot 1, the limiting on the floating mechanism 12 is released. In this way, according to the limiting mechanism 20 disclosed herein, the limiting on the floating mechanism 12 can be released without special handling in the event of an anomaly.

[0055] [Structure Example 2] Figure 4 The restriction mechanism 20A is shown as another structural example of the restriction mechanism 20. Figure 4 401 in the diagram shows the state when the floating mechanism 12 is restricted by the restricting mechanism 20A. Figure 4 402 in the diagram shows a state where the restriction imposed by the restriction mechanism 20A has been lifted.

[0056] and Figure 3 Compared to the limiting mechanism 20 shown, Figure 4 The difference of the limiting mechanism 20A shown is that the head end of the protrusion 21A does not have a conical surface, and the protrusion 21A with a rectangular cross section has a shape that fits into the receiving hole 221A provided in the second part 122.

[0057] Even if Figure 4 The limiting mechanism 20A shown can also achieve the limiting effect of the limiting mechanism 20 by having the protrusion 21A engage with the receiving hole 221. Furthermore, if the protrusion 21A completely disengages from the receiving hole 221, the limiting effect of the limiting mechanism 20 can be released. In this case, for example, the force-applying part 212 may also have a pull-in part (not shown), which pulls the protrusion 21A towards the first part 121, thereby completely disengaging the protrusion 21A from the receiving hole 221.

[0058] In other words, the floating mechanism 12 includes a first part 121 connected to the mounting part 13 and a second part 122 connected to the transport part 14. The first part 121 has a protrusion 21A. The second part 122 includes a plate part 22, which has a receiving hole 221A into which the protrusion 21A is fitted. Furthermore, the restraining mechanism 20A is implemented by the protrusion 21A and the plate part 22, and is restrained by the protrusion 21A fitting into the receiving hole 221A.

[0059] [Structure Example 3] exist Figure 5 The following is an example of another structure of the limiting mechanism 20: limiting mechanism 20B. Figure 5 501 shows the state when the floating mechanism 12 is restricted by the restricting mechanism 20B. Figure 5 502 in the diagram shows the state where the restriction imposed by the restriction mechanism 20B has been lifted.

[0060] exist Figure 5In the example, part 121 includes an electromagnet 23X, and part 122 includes a magnet 23Y. The limiting mechanism 20B limits the levitation mechanism 12 by combining the electromagnet 23X and the magnet 23Y under magnetic force. That is, when limiting by the limiting mechanism 20B, current flows through the electromagnet 23X to make it a magnet, thereby combining it with the magnet 23Y. On the other hand, to release the limitation imposed by the limiting mechanism 20B, current is not allowed to flow through the electromagnet 23X, thus making the electromagnet 23X and the magnet 23Y uncombined. Therefore, the limitation imposed by the limiting mechanism 20B can be controlled.

[0061] Here, both electromagnet 23X and magnet 23Y can be electromagnets. Alternatively, magnet 23Y can also be an electromagnet.

[0062] In the above scheme, the joint 11 can be joined by magnetic force. Furthermore, when the magnetic force stops or when a force exceeding the force required for the magnetic connection is applied, the limitation on the function of the levitation mechanism 12 can be lifted.

[0063] [Processing Flow] Combination Figure 6 An example of a case where the restriction is imposed by the restriction mechanism control unit 30 in this embodiment will be described. Figure 6 This is a flowchart of the restriction processing performed by the restriction mechanism control unit 30. Here, we will explain the handling process when an anomaly occurs in the assembly line.

[0064] like Figure 6 As shown in section 601, the assembly line is in a state restricted by the limiting mechanism 20 (S101). When the work robot 1 comes into contact (docks) with the object 100 (S102), the status monitoring mode is activated (S103). Afterwards, the work robot 1 continues to work, and upon completion of the work, the work robot 1 docks with the object 100 (S104). Then, the status monitoring mode is deactivated (S105). The status monitoring mode is a mode in which the controller 50 monitors the status of the assembly line.

[0065] Figure 6S202 illustrates the processing flow when the status monitoring mode is enabled. When the status monitoring mode is enabled, if an anomaly is detected in the assembly line (S201 is "Yes"; detection step), the restriction mechanism control unit 30 releases the restriction imposed by the restriction mechanism 20 (S202; release step). As a result, the restriction on the floating function of the floating mechanism 12 is released. Therefore, even if the object 100 and the work robot 1 are about to shift in position, the work robot 1 moves together with the object 100. That is, the relative position between the transport device 10 carrying the work robot 1 and the object 100 is allowed to shift. Therefore, when the object 100 and the work robot 1 are connected, even if a shift in position is about to occur between them, the possibility of malfunctions, damage, etc., can be reduced.

[0066] The above explains the handling procedures when an abnormality occurs in the assembly line.

[0067] Although the above description is based on the premise that object 100 is being moved, the invention disclosed herein is not limited thereto. Even when object 100 is not being moved, status monitoring can be performed, for example, when the work robot 1 holds an assembly component to be assembled to object 100.

[0068] Furthermore, while the above describes a scheme for lifting restrictions in the event of an anomaly detection, the timing of lifting restrictions is not limited to when an anomaly is detected. For example, the restriction lifting unit can also lift the restrictions imposed by the restriction mechanism upon detecting a release command (restriction release flag) to the restriction mechanism.

[0069] [Software-based implementation example] The functions of the restriction mechanism control unit 30 can be realized by making a computer a program that enables the restriction mechanism control unit 30 to perform its functions.

[0070] In this case, the restriction mechanism control unit 30 includes a computer as hardware for executing the program, the computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory). By executing the program through the control device and the storage device, the functions described in the foregoing embodiments are realized.

[0071] The program can also be recorded on one or more computer-readable non-temporary recording media. This recording medium may or may not be present in the device. In the latter case, the program can also be provided to the device via any wired or wireless transmission medium.

[0072] Furthermore, some or all of the functions of each control block can also be implemented using logic circuits. For example, integrated circuits that form the logic circuits that enable the functions of each control block are also included within the scope of this disclosure. In addition, the functions of each control block can also be implemented using a quantum computer, for example.

[0073] Furthermore, the processes described in the foregoing embodiments can also be performed by AI (Artificial Intelligence). In this case, the AI ​​can run either in the control device or in other devices (such as edge computers or cloud servers).

[0074] 〔Summarize〕 The conveying device disclosed in aspect 1 is a conveying device for conveying a work robot, wherein the work robot performs work on an object being conveyed. The conveying device includes: a mounting section for mounting the work robot; a conveying section for moving in the same direction as the conveying direction of the object and at the same conveying speed as the object; and a connecting section for connecting the mounting section and the conveying section to each other, wherein the connecting section has: a floating mechanism for allowing the mounting section and the conveying section to move relative to each other in a direction parallel to the conveying direction.

[0075] Previously, no floating mechanism was provided between the loading section and the transport section. However, according to the above solution, a floating mechanism is provided between the loading section and the transport section, allowing for positional displacement between them. Therefore, even if the transport of the object stops during operation, causing an imminent positional shift between the object and the robot, the floating mechanism allows for this shift between the loading section carrying the robot and the transport section currently transporting it, thus absorbing the positional shift. This prevents damage to the object or the robot.

[0076] Furthermore, by arranging a floating mechanism between the mounting section and the transport section, the floating mechanism only allows the mounting section and the transport section to shift their positions relative to each other in a direction parallel to the transport direction, thus simplifying the structure of the floating mechanism.

[0077] The conveying device according to aspect 2 of this disclosure, based on aspect 1 above, further includes: a limiting mechanism that restricts the movement permitted by the floating mechanism; and a limiting mechanism control unit that controls whether the limiting mechanism performs the restriction. According to the above solution, it is possible to control whether the floating mechanism is allowed to move.

[0078] In the conveying device according to aspect 3 of this disclosure based on aspect 2 above, the restriction mechanism control unit releases the restriction imposed by the restriction mechanism when a predetermined condition is met. According to the above solution, the restriction imposed by the restriction mechanism is released when the predetermined condition is met. Therefore, by setting the predetermined condition according to the situation where the restriction imposed on the floating function of the floating mechanism is to be released, the restriction imposed on the floating function can be released when a predetermined condition occurs.

[0079] In the handling device according to aspect 4 of this disclosure based on aspect 3 above, the condition that the specified conditions are met is at least one of the following: (1) the difference between the handling speed of the object and the handling speed of the handling unit exceeds a first threshold, or the difference between the current position of the object and the current position of the working robot exceeds a second threshold; (2) an anomaly is detected by the working robot; (3) a signal about the anomaly is received from the equipment handling the object. If the difference between the handling speed of the object and the handling speed of the handling unit becomes large, or if the object and the working robot are offset from each other, the working robot may be subjected to a large load, resulting in failure or damage. In addition, if the working robot detects an anomaly, the working robot may also be subjected to a load, resulting in failure or damage. In addition, if the handling equipment of the object malfunctions, the difference between the handling speed of the object and the handling speed of the handling unit may also occur, which may lead to failure or damage to the working robot. According to the above solution, the restriction imposed by the limiting mechanism will be lifted in the above situations, and the floating mechanism will then function. As a result, the offset between the object and the working robot is absorbed, thereby reducing the possibility of failure or damage to the working robot.

[0080] In the handling device according to aspect 5 of this disclosure based on aspect 4 above, if the force sensor provided at the connection part connected to the object detects an abnormal value, or if the measured value accompanying the action performed by the robot during operation becomes abnormal, the robot considers that an anomaly has been detected. According to the above solution, the restriction imposed by the limiting mechanism is released when the robot is susceptible to load, and the floating mechanism then functions. As a result, the positional shift between the object and the robot is absorbed, thereby reducing the possibility of malfunction or damage to the robot.

[0081] In the conveying device according to aspect 6 of this disclosure based on any one of aspects 2 to 5 above, the limiting mechanism applies the limiting force, and the limiting mechanism control unit releases the limiting force when it is less than a predetermined value. According to the above solution, it is possible to control whether the floating mechanism is allowed to move by applying force.

[0082] In the conveying device according to aspect 7 of this disclosure based on aspect 6 above, the floating mechanism includes a first portion connected to the mounting portion and a second portion connected to the conveying portion. The first portion has a protrusion, and the second portion has a plate portion with a receiving hole into which the protrusion is fitted. The limiting mechanism is implemented by the protrusion and the plate portion, and the limiting is achieved by the protrusion fitting into the receiving hole. According to the above solution, a limiting mechanism for limiting the floating mechanism can be implemented by the protrusion and the receiving hole. Thus, the limiting mechanism can be implemented with a simple structure.

[0083] In the conveying device according to aspect 8 of this disclosure based on aspect 7 above, when the protrusion is engaged with the receiving hole, the limiting mechanism control unit prohibits the movement of the mounting part and the conveying part relative to each other along the conveying direction when the applied force is above a predetermined value, and allows the movement of the mounting part and the conveying part relative to each other along the conveying direction when the applied force is less than the predetermined value. According to the above solution, whether the floating function of the floating mechanism is restricted can be controlled by controlling the applied force, thus making it easy to control the restriction on the floating function of the floating mechanism.

[0084] In the conveying device according to aspect 9 of this disclosure based on aspect 7 above, the floating mechanism includes a first part connected to the mounting part and a second part connected to the conveying part. The first part has a gradually tapering protrusion that presses against the conveying part under a variable force. The second part has a plate with a receiving hole into which the protrusion is fitted. The side of the receiving hole in a direction parallel to the conveying direction is tapered. The limiting mechanism is implemented by the protrusion and the plate, and the limiting is achieved by the protrusion fitting into the receiving hole under the force. According to the above solution, a floating mechanism that allows movement between the mounting part and the conveying part along the conveying direction can be realized by the gradually tapering protrusion and the tapered receiving hole. Thus, a floating mechanism can be realized with a simple structure.

[0085] In the conveying device according to aspect 10 of this disclosure, based on any one of aspects 6 to 9 above, it further comprises: a detection unit that detects abnormalities during the operation process; and a force control unit that controls the force, wherein when the detection unit detects an abnormality, the force control unit makes the force less than the predetermined value. According to the above solution, simply by making the force less than the predetermined value in the event of an abnormality, the restriction on the floating function of the floating mechanism can be lifted, thus enabling highly compliant control with a simple structure.

[0086] In the conveying device according to aspect 11 of this disclosure based on any one of aspects 1 to 5 above, the coupling is achieved by magnetic force, and the restriction on the floating function of the floating mechanism is released when the magnetic force stops or when a force exceeding the force required for the coupling is applied. According to the above solution, both magnetic force and the restriction on the floating function of the floating mechanism can be controlled by controlling the magnetic force. Furthermore, the restriction on the floating function of the floating mechanism can be released when a force exceeding the magnetic force is applied.

[0087] The control method for the handling device disclosed in aspect 12 is a control method for a handling device used for a handling robot, wherein the handling robot performs operations on an object being handled, and the handling device includes: a mounting section for mounting the robot; a handling section for moving in the same direction as the handling direction of the object and at the same handling speed as the object; and a connecting section for connecting the mounting section and the handling section, the connecting section having: a floating mechanism for allowing movement between the mounting section and the handling section along the handling direction; the handling device further includes: a limiting mechanism control section for controlling the limiting mechanism's restriction on the floating function of the floating mechanism, the control method including: a detection step in which the limiting mechanism control section detects an abnormality in the operation process; and a release step in which the limiting mechanism control section releases the restriction imposed by the limiting mechanism when the abnormality is detected. According to the above method, the restriction imposed by the limiting mechanism is released when an abnormality is detected, that is, the restriction on the floating function of the floating mechanism is released. Therefore, it is possible to suppress situations where the robot is damaged due to the relative position of the object and the robot shifting during abnormal events.

[0088] This disclosure is not limited to the above-described embodiments. Various changes can be made within the scope of the technical concept described in the specification. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included within the technical scope of this disclosure.

Claims

1. A conveying device, It is used as a handling robot, wherein the handling robot performs tasks on the objects being handled. The conveying device has the following features: A mounting section for mounting the work robot; A transport unit that moves in the same direction as the transport direction of the object and at the same transport speed as the object; and The connecting part, which connects the mounting part and the conveying part, Furthermore, the joint portion has: A floating mechanism that allows the mounting part and the transport part to move relative to each other in a direction parallel to the transport direction.

2. The conveying device according to claim 1, further comprising: A limiting mechanism that restricts the movement permitted by the floating mechanism; and The restriction mechanism control unit controls whether the restriction mechanism performs the restriction.

3. The conveying device according to claim 2, wherein, When the specified conditions are met, the restriction mechanism control unit releases the restriction imposed by the restriction mechanism.

4. The conveying device according to claim 3, wherein, The condition that the specified conditions are met is at least one of the following: (1) The difference between the transport speed of the object and the transport speed of the transport unit exceeds the first threshold, or the difference between the current position of the object and the current position of the working robot exceeds the second threshold; (2) An anomaly was detected by the operating robot; (3) A signal about an anomaly was received from the equipment that was transporting the object.

5. The conveying device according to claim 4, wherein, If the force sensor at the connection point connected to the object detects an abnormal value, or if the measured value accompanying the action performed by the robot during operation becomes an abnormal value, the robot considers that it has detected the abnormality.

6. The conveying device according to claim 2, wherein, The limiting mechanism applies force to achieve the limiting effect. The limiting mechanism control unit releases the restriction when the applied force is less than a specified value.

7. The conveying device according to claim 6, wherein, The floating mechanism includes a first part connected to the mounting part and a second part connected to the transport part. The first part has a protrusion. The second part has a plate portion having a receiving hole into which the protrusion is fitted. The limiting mechanism is implemented by the protrusion and the plate, and the limiting is performed by the protrusion fitting into the receiving hole.

8. The conveying device according to claim 7, wherein, With the protrusion fitted into the receiving hole, The limiting mechanism control unit prohibits the placement part and the transport part from moving relative to each other along the transport direction when the applied force is above a predetermined value, and allows the placement part and the transport part to move relative to each other along the transport direction when the applied force is less than a predetermined value.

9. The conveying device according to claim 7, wherein, The floating mechanism includes a first part connected to the mounting part and a second part connected to the transport part. The first part has a gradually tapering protrusion that presses against the conveying part under a variable force. The second part has a plate portion with a receiving hole for the protrusion to be fitted into, the receiving hole having a tapered side in a direction parallel to the transport direction. The limiting mechanism is implemented by the protrusion and the plate, and the limiting is achieved by the protrusion engaging with the receiving hole under the applied force.

10. The conveying device according to claim 6, wherein, The conveying device also features: The inspection department detects abnormalities in the operation process; and The force control unit controls the applied force. When the detection unit detects an abnormality, the force control unit reduces the force to a predetermined value.

11. The conveying device according to claim 1 or 2, wherein, The joint is joined by magnetic force. When the magnetic force ceases to occur or when a force exceeding the binding force achieved by the magnetic force is applied, the limitation on the floating function of the floating mechanism is released.

12. A control method for a conveying device, wherein, The transport device is used to transport the work robot, which performs tasks on the objects being transported. The conveying device includes: a mounting section for mounting the working robot; a conveying section that moves in the same direction as the conveying direction of the object and at the same conveying speed as the object; and a connecting section that connects the mounting section and the conveying section to each other. The connecting part includes a floating mechanism that allows the mounting part and the conveying part to move relative to each other along the conveying direction. The conveying device further includes a limiting mechanism control unit, which controls the limiting mechanism's restriction on the floating function of the floating mechanism. The control method includes: The detection step involves the restriction mechanism control unit detecting abnormalities during the operation process; The release step involves the restriction mechanism control unit releasing the restriction imposed by the restriction mechanism when the abnormality is detected.

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