Manufacturing device

Abstract

To provide a manufacturing device capable of moving a conveyed body with high accuracy to an actual work area which is set on a conveying surface and where a work device performs a job.SOLUTION: A manufacturing device 100 includes: a conveying surface 25; a plurality of conveyed bodies t that moves freely on the conveying surface 25; a conveying control unit that controls the movement of the conveyed bodies t; and a work device W. The manufacturing device 100 includes a relative position detection unit that detects the relative position of the work device W with respect to the conveying surface 25. The work device W has a work area WA where the work device W performs a job and is movable with respect to the conveying surface 25. The conveying control unit moves the conveyed bodies t to an actual work area WA on the conveying surface 25, which is determined based on the detected relative position.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present invention relates to a manufacturing apparatus.

Background Art

[0002] An article composed of a plurality of components is manufactured by combining the components with each other. Such an article is manufactured by assembling other components to the components arranged on the conveyance path or workbench of a manufacturing apparatus.

[0003] As an example of such a manufacturing apparatus, Patent Document 1 discloses a manufacturing apparatus including an articulated robot having a tool, converting the position coordinates of a component into the tool position coordinate system of the articulated robot, and performing an operation on the component with the tool that has moved from a direction corresponding to the posture of the component. In such a manufacturing apparatus, the position coordinates of the component and the tool position coordinates are detected by a vision sensor, and the error amount between an arbitrary reference position set within the detection range of the vision sensor and a rotation position rotated in a predetermined direction from the reference position is recorded as correction data. Further, Patent Document 2 discloses a traveling robot including a traveling carriage and a work robot mounted thereon, and a work system that moves the traveling robot to a work location to perform work. This traveling robot has a camera, and it is disclosed that the traveling robot is positioned with respect to the work location based on a work location identification display in an image obtained by the camera. Further, Patent Document 3 discloses a robot-mounted mobile device having a robot provided with a hand portion and a mobile device on which the robot is mounted. At a first device position that is the position of the robot-mounted mobile device and a second device position different therefrom, based on a second identification position that is the position of an identification figure in an identification image, when the second identification position is within a predetermined range from the second device position, the position of the hand portion is adjusted, and when the second identification position is outside the predetermined range from the second device position, the mobile device is moved to adjust the position. Further, Patent Document 4 discloses a conveying system including an input station having an input conveyor for conveying an object to be conveyed, and an automated guided vehicle that loads the object to be conveyed from the end of the input station onto a loading section at a loading location facing the end of the input station and conveys it, and selects the movement of the automated guided vehicle according to the position of the automated guided vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0005] As a manufacturing apparatus for manufacturing an article composed of a plurality of components, there is one in which a working apparatus for performing a task on the component is arranged along the conveyance path of a conveyance apparatus for conveying the component. The tasks performed by this working apparatus are, for example, washing, filling, capping, etc., and these tasks are performed in the process of manufacturing the article. Regarding such a manufacturing apparatus, if the working apparatus is movable with respect to the conveyance surface on which the conveyance path is set, like the traveling carriage or the moving apparatus described above, a deviation may occur between the work scheduled position set in advance on the conveyance surface and the actual working position of the working apparatus. As a result, there is a risk that the working accuracy for the component may decrease.

[0006] The present invention relates to providing a manufacturing apparatus capable of accurately moving a conveyance body to an actual working area set on a conveyance surface and where a working apparatus performs work.

Means for Solving the Problems

[0007] The present invention relates to a manufacturing apparatus including a conveyance surface, a plurality of conveyors that freely move on the conveyance surface, a conveyance control unit that controls the movement of the conveyors, and a working device. In one embodiment, it is preferable that the manufacturing apparatus includes a relative position detection unit that detects the relative position of the working device with respect to the conveyance surface. In one embodiment, it is preferable that the working device has a working area where the working device performs work and is movable with respect to the conveyance surface. In one embodiment, it is preferable that the conveyance control unit moves the conveyor with respect to the actual working area on the conveyance surface determined based on the detected relative position.

Advantages of the Invention

[0008] According to the present invention, the conveyor can be accurately conveyed to the actual working area set on the conveyance surface and where the working device performs work.

Brief Description of the Drawings

[0009]

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DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a manufacturing apparatus of the present invention (hereinafter, also simply referred to as "manufacturing apparatus") will be described with reference to the drawings based on its preferred embodiments. The manufacturing apparatus 100 of the present embodiment is shown in FIGS. 1 to 8. The manufacturing apparatus 100 of the present embodiment is applied to manufacture an article 1 including a plurality of components as shown in FIG. 1. The article 1 includes, as a plurality of components, parts constituting the article, contents accommodated inside the article, and the like. The components constituting the article are conveyed by a carrier t described later.

[0011] The article 1 of the present embodiment is a bottle container 1 in which a liquid such as a liquid detergent or a liquid cosmetic is accommodated. The components of this bottle container 1 are a container body 1b having a liquid accommodation space and a cap 1c detachably attached to the neck portion of the container body 1b. The neck portion is a cylindrical portion having an opening for discharging the liquid to the outside, and is formed at the upper end portion of the container body 1b. Further, a screw thread portion is formed on the outer peripheral surface of the neck portion, and the cap 1c is attached to the neck portion by screwing with a screw thread portion (not shown) formed on the inner peripheral surface of the cap 1c.

[0012] The manufacturing apparatus 100 of the present embodiment can suitably manufacture the article 1 constituted by a plurality of parts. Such an article 1 may be a container in which contents such as a liquid, a gas, a powder, and a solid are accommodated inside. Examples of the container include a bottle container that accommodates a liquid such as a liquid cosmetic or a liquid detergent, a squeeze container, a tube container that accommodates a paste-like fluid, a pouch container, a compact case that accommodates powder cosmetics such as foundation, blush, and eyeshadow, and a box that accommodates solid soap. Containers that accommodate a liquid such as a bottle container or a squeeze container may be provided with a dispenser such as a pump dispenser according to the method of taking out the liquid.

[0013] Alternatively, the article may be an assortment product containing a plurality of types of products. The products constituting the assortment product (hereinafter also referred to as "constituent products") are each independent, and the constituent products become the constituent elements of the assortment product. Examples of the assortment product include a set product of lotion and emulsion, a set product of various makeup cosmetics, a set product of products such as cosmetics or cleaning agents with different scents, and a set product of shampoo and conditioner. When manufacturing a set product of lotion and emulsion as an article, a bottle container containing the lotion, a bottle container containing the emulsion, and a package such as a box containing both of these bottle containers become the constituent elements.

[0014] The manufacturing apparatus 100 of the present embodiment includes a conveying device 24 including a conveying stage 20 constituting a conveying surface 25 and a plurality of conveyors t moving on the conveying surface 25. Further, the manufacturing apparatus 100 includes working devices W1 to W9 having a working area on the conveying surface 25, and a manufacturing control unit 50 (see FIG. 7) that controls the operations of the conveyor t, the conveying stage 20, and the working devices W1 to W9.

[0015] The conveying surface 25 is a region that extends planarly and is a region where the conveyor t moves. That is, it is the movable range of the conveyor t. In the present embodiment, the conveying surface 25 is formed by the upper surface of the conveying stage 20. The conveying stage 20 of the present embodiment is placed on a gantry 26 and is lifted from the bottom (see FIGS. 10 and 11).

[0016] In the manufacturing apparatus 100 of the present embodiment, the gantry 26 on which the conveying stage 20 is placed is grounded on a horizontal plane, and the conveying stage 20 extends in the horizontal direction. The conveying stage 20 of the present embodiment has an X direction and a Y direction orthogonal thereto, and has a rectangular shape that is long in the X direction (see FIGS. 1 and 3). The transfer stage 20 is composed of a plurality of segments 21. The segment 21 is the minimum unit of hardware that is individually powered to generate a magnetic force. The transfer stage 20 can be composed of a single or a plurality of segments 21. Also, the transfer stage 20 can arrange a plurality of segments 21 arbitrarily to make the transfer surface 25 into a desired planar shape. In the transfer stage 20, the plurality of segments 21 are arranged adjacent to each other in the X direction and the Y direction and are arranged without gaps.

[0017] The transfer stage 20 of the present embodiment is configured by arranging a plurality of segments 21 in both the X direction and the Y direction. Each segment 21 includes a segment main body 22 that forms the outer shape of the segment 21. The segment main body 22 has a square planar shape. The upper surfaces of the respective segment main bodies 22 form a substantially flat plane. Thereby, the upper surface of the transfer stage 20, that is, the transfer surface 25, is in a substantially flat state.

[0018] The segment 21 of the present embodiment includes a flat plate-shaped segment main body 22 and a magnetic force generating unit 23 provided in the segment main body 22 (see FIG. 6). The magnetic force generating unit 23 of the present embodiment is configured to include coils 23a, 23b, 23c, 23d arranged along the peripheries of the four sides of the segment main body 22, and generates a magnetic force by electric power. These coils 23a, 23b, 23c, 23d are arranged in a substantially rectangular ring shape in a plan view. In the segment 21, two coils 23a, 23d facing each other are arranged in parallel, and another two coils 23b, 23c orthogonal to these coils 23a, 23d face each other and are arranged in parallel. As described above, the transfer stage 20 of the present embodiment generates a magnetic force by electric power, but the transfer stage may generate a magnetic force without using electric power.

[0019] As shown in FIG. 4, the carrier t of the present embodiment includes a flat plate-shaped carrier body tb and holding portions 10 and 12 provided on the upper surface of the carrier body tb and holding components 1b and 1c. As shown in FIGS. 4 and 5, the carrier body tb has a substantially square shape in plan view with rounded corners. The shape of the carrier body tb in plan view may be a hexagonal shape, a circular shape, or the like. The holding portions 10 and 12 are fixed to the upper surface of the carrier t by joining means such as bolts or adhesives. The holding portions 10 and 12 are preferably positioned on the upper surface of the carrier t by positioning pins or positioning guide members and then fixed.

[0020] The types of the holding portions of the plurality of carriers t may be made different according to the types of the components to be conveyed. In particular, when a single carrier t conveys a plurality of components, it is preferable to provide a plurality of holding portions of different types on each carrier t. In this case, it is preferable that the arrangement positions of the holding portions provided on each carrier t on the upper surface of the carrier body tb are the same for each type of the holding portion. In other words, it is preferable that the arrangement positions of the holding portions on the upper surface of the carrier body tb are common among the carriers t provided with the same type of holding portion. Further, when the carrier t conveys a single component, it is preferable that the center position of the holding portion on the upper surface of the carrier body tb of the holding portions having a common type overlaps with the center position of the upper surface when the carrier t is viewed in plan view.

[0021] The holding portion 12 shown in FIG. 4 has a cylindrical portion 11b capable of accommodating the bottom portion of the container body 1b which is a component, and a plate portion 11a on which the cylindrical portion 11b is erected, and the plate portion 11a is fixed to the upper surface of the carrier body tb. For convenience of explanation, in FIG. 1, the illustration of the cylindrical portion 11b of the holding portion 12 is omitted. From the viewpoint of weight reduction of the holding portion, the holding portion 12 for holding the component (container body 1b) in an erected state is preferably formed of a synthetic resin, an aluminum material, or the like. Further, the carrier t of the present embodiment includes the holding portion 12, but it may not include the holding portion 12.

[0022] The holding part included in the carrier t may be one that holds components in a grippable manner. As such a holding part, there is an example that includes a gripper that can be driven by the power of a battery included in the carrier t, and holds components by gripping with the gripper. The gripping and release by the gripper of this holding part are controlled by a control signal. Such a control signal may be transmitted by a manufacturing control unit 50 described later.

[0023] The holding part 10 shown in FIG. 2 is a sheet member fixed to the upper surface of the carrier t. As such a holding part 10, an adsorption sheet having micro suction cups can be used. The micro suction cups have a large number of minute concave holes, and when a pressing force is applied by the weight of the component from above the micro suction cups, they exert an adsorption force on the pressed component.

[0024] The carrier t includes a magnet (permanent magnet) inside the carrier body tb. More specifically, the carrier t has magnet arrays 33a, 33b, 33c, 33d arranged along the peripheries of the four sides of the carrier body tb inside the carrier body tb (see FIG. 5). Each of the magnet arrays 33a, 33b, 33c, 33d is arranged in a substantially rectangular ring shape. In the carrier t, two magnet arrays 33a, 33d facing each other are arranged in parallel, and another two magnet arrays 33b, 33c orthogonal to these magnet arrays 33a, 33d face each other and are arranged in parallel. The carrier t may include one magnet array instead of a plurality of magnet arrays.

[0025] The transfer stage 20 has a magnetic force generation unit 23 that generates magnetic force by electric power and causes the transfer body t to float from the transfer stage 20 and move on the transfer stage 20 by the interaction with the magnet arrays 33a, 33b, 33c, 33d of the transfer body t. More specifically, when electric power is supplied to the magnetic force generation unit 23 provided in each segment 21 of the transfer stage 20, magnetic force is generated in the horizontal directions (X direction and Y direction). By this magnetic force, the transfer body t can be floated from the upper surface of the transfer stage 20 (segment 21) and moved in the horizontal directions (X direction and Y direction). The transfer stage 20 may move the transfer body t by changing the distance, angle, polarity direction of the magnets provided in the transfer stage 20, or a combination thereof.

[0026] The moving direction of the transfer body t can be changed according to the power supply mode to the plurality of coils 23a, 23b, 23c, 23d provided in the segment 21, for example, the combination of the coils to which power is supplied. Thereby, on each segment 21, each transfer body t can be moved in a direction combining one or both of the X direction and the Y direction. For example, when the Y direction is the front-rear direction and the X direction is the left-right direction, the transfer body t can be moved in a desired direction selected from the front, rear, left, right, and diagonal directions thereof.

[0027] The transfer body t of the present embodiment can move along any one or both of the straight movement paths in the X direction or the Y direction and the straight movement paths in the directions diagonal to the X direction or the Y direction (see FIG. 8). Further, the transfer body t can also move in a curved manner in a direction diagonal to the X direction or the Y direction, and can also move in a rotational manner of rotation or revolution. That is, the transfer body t can move straight, curve, rotate, or combine these movements in an arbitrary direction in plan view. In this way, the transfer body t is made to be able to move freely on the transfer surface 25. Details of the setting of the movement path will be described later.

[0028] In this embodiment, by lifting the carrier t from the transport surface 25 and moving it, the mechanical resistance (friction) with the transport surface 25 becomes close to zero, and the carrier t can be moved at a high acceleration. That is, since the moving time until the carrier t reaches the target point can be shortened, it is possible to improve productivity by enhancing efficiency. Further, the carrier t of this embodiment can also be lifted from the transport surface 25 and inclined in the horizontal direction. For example, the carrier t can be moved in a state where the front side in the traveling direction is inclined lower than the rear side, and it is possible to prevent the components on the carrier t from shifting or falling backward. This is particularly effective when accelerating the moving speed of the carrier t. Conversely, the carrier t can be moved in a state where the front side in the traveling direction is inclined higher than the rear side, and it is possible to prevent the components on the carrier t from shifting or falling forward. This is particularly effective when decelerating the moving speed of the carrier t.

[0029] As described above, the carrier t of this embodiment floats in the normal direction with respect to the transport surface 25 (each segment 21) of the transport stage 20. In this embodiment, each carrier t floats upward in the vertical direction Z with respect to the transport surface 25 (each segment 21). The floating amounts of the respective carriers t floating from the transport stage 20 (each segment 21) are substantially the same. The floating amount is the distance between the transport surface 25 and the bottom surface of the carrier t in the normal direction of the transport stage 20 (hereinafter, also simply referred to as the "normal direction"). In this embodiment, the distance between the bottom surface of the carrier t and the transport stage 20 in the vertical direction Z is the floating amount of the carrier t. From the viewpoint of making the conveyance smoother, the floating amount of the carrier t is preferably 3 mm or more and 20 mm or less, and more preferably 10 mm or more and 20 mm or less.

[0030] The operating principle of lifting and moving the carrier t by the magnetic force generating unit 23 of the transport stage 20 is the same as the principle of lifting and moving a movable stage provided with a plurality of magnet arrays by the coil of the stator stage disclosed in Japanese Patent Application Publication No. 2014-531189.

[0031] The transport stage 20, which is an assembly of a plurality of segments 21, has an area (planar dimensions) larger than that of the carrier t. The area (planar dimensions) of the segment 21 may be larger than, equal to, or smaller than the area (planar dimensions) of the carrier t. The segment 21 of the present embodiment has an area (planar dimensions) larger than that of the carrier t. From the viewpoint of controlling the movement of the carrier t with higher precision, the length of one side of the square segment 21 is preferably 2 times or more and 4 times or less the length of one side of the substantially square carrier t.

[0032] In the present embodiment, the carrier t is provided with identification information in order to be identifiable for each individual (for each carrier t). The identification information is information for identifying each individual carrier t, and may be displayed, for example, by characters, numbers, symbols, or combinations thereof, or may be displayed in an electronically readable manner. As an optically or electronically readable display method of the identification information, for example, two-dimensional codes such as barcodes and QR codes (registered trademarks), electronic information media such as RFID (Radio Frequency Identification) tags, etc. are used. The RFID tag can be read by an RFID reader (RFID antenna). Further, the identification information may be the arrangement of the magnet arrays 33a, 33b, 33c, 33d described above, or the shape of a specific portion of the carrier t (a shape unique to each individual carrier t), etc. Furthermore, the identification information may be given to the carrier t based on an image of the carrier t on the transport stage 20. For example, based on the analysis of the video stream related to the carrier t, the behavior of the carrier t may be monitored and analyzed, and an identifier (identification information) associating a plurality of features related to the carrier t with the tracking of the carrier t may be given.

[0033] The manufacturing apparatus 100 of this embodiment includes working apparatuses W1 to W9 that perform operations on one or more components (see FIG. 8). This manufacturing apparatus 100 includes, as working apparatuses, for example, a supply apparatus W1 that supplies components to a movement path on the conveyance surface 25, filling apparatuses W2, W3, W6, W8 that fill the inside of the components with contents, and combining apparatuses W4, W5, W7, W9 that combine the components. The working apparatuses W1 to W9 of this embodiment are Cartesian robots or articulated robots. As the working apparatus W, a serial link type robot such as a Cartesian robot or an articulated robot, or a parallel link type robot can be used.

[0034] The supply apparatus W1 includes a work holding part 32 having a suction pad and an apparatus main body 31 that supports the work holding part 32 so as to be movable up and down. As shown in FIG. 1, in the supply apparatus W1, the work holding part 32 can move up and down in the vertical direction Z by the apparatus main body 31 and rotate horizontally about the apparatus main body 31. Thereby, the container main body 1b disposed outside the conveyance stage 20 is gripped by the work holding part 32 with the suction pad, moved to above the conveyance surface 25, and loaded onto the unloaded carrier t on the conveyance surface 25. The holding of the component by the work holding part 32 may be gripping or clamping by a gripper or the like in addition to suction by the suction pad.

[0035] The manufacturing apparatus 100 of this embodiment includes a plurality of filling apparatuses W2, W3, W6, W8 as working apparatuses. These filling apparatuses W2, W3, W6, W8 have a common configuration except that the composition of the contents (liquid) to be filled is different. Here, the configuration of the filling apparatus W2 will be described. The description of the filling apparatus W2 can also be applied to the other filling apparatuses W3, W6, W8.

[0036] As shown in FIGS. 1 and 2, the filling device W2 includes a filling nozzle 35 for filling the liquid into the container body 1b and a nozzle movable support portion 34 for gripping the filling nozzle 35. The filling nozzle 35 has an opening / closing mechanism at its root portion and is connected to a supply hose through which the liquid is supplied. The diameter, length, etc. of the filling nozzle 35 can be those suitable for the content to be filled. The nozzle movable support portion 34 includes an arm for gripping the filling nozzle 35 at its tip portion and a support portion capable of raising and lowering and / or rotating the tip portion of the arm in an arbitrary direction (for example, the horizontal direction), and is in the form of a robot arm.

[0037] The manufacturing apparatus 100 of the present embodiment includes a plurality of combination apparatuses W4, W5, W7, W9 as working apparatuses. These combination apparatuses W4, W5, W7, W9 have a common configuration. Here, the configuration of the combination apparatus W4 will be described. The description of the combination apparatus W4 can also be applied to the other combination apparatuses W5, W7, W9.

[0038] The combination apparatus W4 is in the form of a robot arm. More specifically, the combination apparatus W4 includes a robot hand 38 and a hand movable support portion 37 for gripping the robot hand 38. The hand movable support portion 37 includes an arm whose tip portion (end effector) is the robot hand 38 and a support portion capable of raising and lowering and / or rotating the tip portion of the arm in an arbitrary direction (for example, the horizontal direction).

[0039] The working apparatuses W1 to W9 are provided on the transport device 60, and are made movable with respect to the transport surface 25 by the movement of the transport device 60 (see FIGS. 10 and 11). The transport device 60 may be a manned transport vehicle that can be moved manually, such as a trolley, or an automatic transport vehicle that can be moved automatically. Examples of the latter include an automated guided vehicle (AGV: Autonomous Mobile Robot) or an autonomous mobile robot (AMR: Autonomous Mobile Robot).

[0040] In the present embodiment, for the working devices W1 to W9, the main body portion that supports the portion that executes the work, such as an end effector, is arranged outside the periphery of the conveyance surface 25 so that the portion that executes the work is arranged on the conveyance surface 25. That is, the working device W of the present embodiment is arranged along the conveyance surface 25. The working devices W1 to W9 have a work area WA in which a portion that executes work such as an end effector performs the work operation of the devices W1 to W9. When the working device W is moved by the conveying device 60 and the working device W is arranged along the conveyance surface 25, work areas WA1 to WA9 in which the working devices W1 to W9 perform work are set on the conveyance surface 25 (see FIG. 8). Since actual work is performed in the work areas W1 to W9 on this conveyance surface 25, the work area WA set on the conveyance surface 25 becomes the "actual work area WA". For convenience of explanation, the "actual work area WA" is also referred to as the "actual operation area WA". The ranges of these areas and the operation definitions of the end effector within the areas are synonymous between the work area WA before the working device W is installed along the conveyance surface 25 and the actual work area WA. That is, the following description of the work area WA also applies to the actual work area WA.

[0041] The work areas WA1 to WA9 (actual work areas WA1 to WA9) are areas on the conveyance surface 25 where the work of the working devices W1 to W9 is executed, and are movable areas of the end effector supported by movable support portions (arms) such as the work holding portion 32, the nozzle movable support portion 34, or the hand movable support portion 37. The work areas WA1 to WA9 include the work positions where the working devices W1 to W9 perform work. The work position is the reference position when the working devices W1 to W9 perform work.

[0042] For example, as shown in FIG. 1, the working position P1 of the supply device W1 in the manufacturing method of the bottle container 1 is the loading position when loading the container body 1b onto the carrier t. The working positions P2 and P3 of the filling devices W2 and W3 are the filling positions where liquid is supplied to the container body 1b by the filling nozzle 35, and are the positions where the central axis of the discharge port of the filling nozzle 35 is arranged during filling. The working position P4 of the combination device W4 is, as shown in FIG. 3, on the conveying surface 25, the gripping position P4a where the robot hand 38 grips the cap 1c and the attaching position P4b where the robot hand 38 attaches the cap 1c to the container body 1b. In the actual working area WA, working positions are set on the conveying surface 25.

[0043] Thus, on the conveying surface 25 of the present embodiment, a plurality of working positions with different working types and actual working areas WA1 to WA9 including the working positions are set according to the working devices W1 to W9 with different working types. In FIG. 8, the actual working areas WA1 to WA9 indicate the areas where the segments 21 on the front side of the working devices W1 to W9 are arranged, but one actual working area and one segment 21 do not necessarily correspond. For example, the actual working areas WA1 to WA9 may include another segment 21 adjacent to the segment 21 or only a part of these segments 21.

[0044] When the actual working area WA is set on the conveying surface 25 of the manufacturing apparatus 100 of the present embodiment, for a plurality of carriers t, an actual working area WA where work is separately performed by the working device W and a conveying area TA where no work is performed are set. Taking the carriers t1 and t2 on which the operations of the working devices W1 to W4 are performed as an example, as shown in FIG. 9, in the transport area TA with reference to the transport surface 25, the actual working areas WA1, WA2, WA3, WA4a of the carrier t1 that transports the container body 1b, and the actual working area WA4b of the carrier t2 that transports the cap 1c are set. That is, the actual working area WA is set within the transport area TA. In the actual working areas WA1, WA2, and WA3, the working devices W1 to W3 perform operations (supply and filling of the container body 1b) on the carrier t1 and the container body 1b transported by the carrier t1. On the other hand, these actual working areas WA1, WA2, and WA3 are transport areas TA where no operation is performed for the carrier t2 that transports the cap 1c. Thus, on the transport surface 25 shown in FIG. 9, the transport area TA encloses the actual working area WA, and the actual working area WA and the transport area TA are set for each carrier t. In the transport area TA, the actual working area WA4a of one carrier t and the actual working area WA4b of another carrier t may be set to overlap in the same area, or the actual working area WA of one carrier t and the actual working area WA of another carrier t may be set in different areas respectively (see FIG. 9).

[0045] In the transport surface 25 of the present embodiment, a movement path of the carrier t is set in the transport area TA including the actual working area WA. The carrier t can arbitrarily set a path (route) from the movement start point to the target point on the transport surface 25, and the path can be set according to each individual carrier t. Further, the path of the carrier t is not necessarily uniquely determined, and can be appropriately changed to an arbitrary path according to the movement and arrangement of other carriers t. The movement of the carrier t on the transport surface 25, including the setting and change of the path, is controlled by the manufacturing control unit 50. The manufacturing control unit 50 is communicably connected to the transport stage 20 (segment 21) via a network. The transport stage 20 sets or changes the movement path of the carrier t under the control of the manufacturing control unit 50. The manufacturing control unit 50 may also be communicably connected to the carrier t.

[0046] The manufacturing control unit 50 includes a communication module 51, a conveyance information acquisition unit 52, a path generation unit 53, a conveyance control unit 54, a work control unit 55, a relative position detection unit 56, and a setting unit 57 (see FIG. 7). The communication module 51 can communicate with the conveyance stage 20, the conveyance body t, and the working devices W1 to W9, and receives signals from the conveyance stage 20 and the working devices W1 to W9, as well as the identification information and position information of the conveyance body t. Further, the communication module 51 transmits each piece of information generated or calculated by the path generation unit 53 to the conveyance stage 20 (segment 21). This each piece of information is, for example, the path information or path change information of the conveyance body t described later. As the communication module 51, for example, a communication module corresponding to LTE, 4G, or 5G, or a communication module corresponding to an existing standard such as IEEE802.11 can be used.

[0047] The conveyance information acquisition unit 52 records the identification information and position information of the conveyance body t over time. The position information of the conveyance body t is information regarding the coordinate position of the conveyance body t on the conveyance surface 25. This position information includes information on the coordinate position where the conveyance body t is actually located (hereinafter, also referred to as the "actual coordinate position"), and information on the coordinate position of the planned movement path (hereinafter, also referred to as the "planned coordinate position"). In the present embodiment, these coordinate positions are shown as positions (X, Y) on the conveyance surface 25. During the operation of the manufacturing apparatus 100, the conveyance information acquisition unit 52 acquires the position information of the conveyance body t, for example, every 0.01 to 1 second. Thereby, it is possible to show (map) the actual movement path of the conveyance body t as the temporal and continuous change (trajectory) of the actual coordinate position.

[0048] The information on the planned coordinate positions is information that continuously indicates the planned route from the movement start point to the target point of the carrier t in terms of coordinate positions. Each of the movement start point and the target point is indicated by a coordinate position on the conveyance surface 25. As a result, the actual coordinate position (current location) on the planned route on the conveyance surface 25 can be grasped. The information on the planned coordinate positions is generated by the route generation unit 53. Also, based on the signals received from the working devices W1 to W9 or the information on the actual coordinate positions, the route generation unit 53 changes the information on the planned coordinate positions to change the planned route of the carrier t.

[0049] It is preferable to acquire the position information of the present embodiment for each of a plurality of sections constituting the conveyance stage 20. The section is constituted by the segment 21 of the conveyance stage 20 or an aggregate of two or more segments 21. For example, an aggregate of four segments 21 forming a square can be set as one section. From the viewpoint of acquiring more detailed position information, the section set in the conveyance stage 20 is preferably each single segment 21.

[0050] The conveyance information acquisition unit 52 records by associating the identification information of the carrier t and the information on the components conveyed by the carrier t. That is, for each carrier t, the components conveyed by the carrier t are recorded. The conveyance information acquisition unit 52 of the present embodiment records by associating the identification information of the carrier t, the position information corresponding to the carrier t, and the information on the components conveyed by the carrier t. The identification information, the position information, and the information on each component are stored in a recording unit (not shown) of the manufacturing control unit 50.

[0051] The route generation unit 53 generates or changes the movement route of the carrier t on the conveyance surface 25. That is, it generates or changes the planned coordinate positions (planned route). The movement route on the conveyance stage 20 can be set as an orbit that makes continuous the coordinate positions of the carrier t on the conveyance stage 20. The route generation unit 53 generates a movement route that moves to the working areas corresponding to the individual working devices in the order of the manufacturing processes in which the carrier t manufactures articles on the conveyance surface 25.

[0052] Such a movement route is set for each carrier t based on identification information. For example, as shown in FIG. 8, in the manufacturing apparatus 100 including the working devices W1 to W9, movement routes C1 to C4 for moving the working area in the following order can be set. In each of the following movement routes, the movement start point is indicated by "21a" and the target point is indicated by "21b". The movement routes C1 to C4 shown in FIG. 8 are the movement routes of the carrier t that conveys the components (for example, the container body 1b) targeted for the housing process. In the manufacturing apparatus 100 of the present embodiment, each of the plurality of carriers t simultaneously conveys (moves) along these movement routes C1 to C4. Movement route C1: 21a → W1 → W2 → W4 → 21b Movement route C2: 21a → W1 → W3 → W4 → 21b Movement route C3: 21a → W5 → W6 → W7 → 21b Movement route C4: 21a → W8 → W9 → 21b

[0053] The above movement routes C1 to C4 have in common that the movement start point is within the segment 21a and the target point is within the segment 21b. These movement routes C1 to C4 are routes for moving to different working areas except for the movement start point (segment 21a) and the target point (segment 21b). In such a form, when the types of work (types of processes) performed by each of the working devices W1 to W9 are different, different types of articles can be manufactured by moving the carrier t for each of the movement routes C1 to C4. Further, even if the types of work are the same among the plurality of working devices, different types of articles can be manufactured for each of the movement routes C1 to C4 by varying the contents to be filled, the components to be combined, or the processing or the like. Therefore, different types of articles can be manufactured by varying the movement routes C1 to C4 for each carrier t.

[0054] The path generation unit 53 generates a movement path for moving the carrier t to the work areas WA1 to WA9 including the work positions based on the information on the work areas WA1 to WA9 of the working devices W1 to W9 and the work positions included in the work areas WA1 to WA9. The work positions and the work areas WA1 to WA9 including the same are preset for each of the working devices W1 to W9. The generation or change execution of the movement path by the path generation unit 53 can use a known algorithm, for example, it is executed by the Dijkstra method, the A* algorithm, or the like. The path generation unit 53 sets, with respect to the movement path of one carrier t, the current position of another carrier t and the movement area (scheduled coordinate position) of another carrier t advanced by a predetermined time as obstacles, and is enabled to generate or change a path for avoiding the other carrier t.

[0055] The conveyance control unit 54 controls the movement of the carrier t in the conveyance area TA including the actual work area WA. The conveyance control unit 54 defines a two-dimensional coordinate system (X, Y) having an X-axis and a Y-axis parallel to the conveyance surface 25, controls the movement of the carrier t in the coordinate system, and also controls the movement speed, inclination, floating amount, etc. of the carrier t.

[0056] The conveyance control unit 54 transmits a movement command for moving the carrier t to the next actual work area WA, a movement command for moving within the actual work area WA, a target point movement command for moving the carrier t to the target point, or a return movement command for returning the carrier t to the movement start point to the conveyance stage 20. The conveyance stage 20 controls the magnetic force based on these movement commands to move the carrier t to any one of the next actual work area WA, the target point, and the movement start point. The conveyance control unit 54 of the present embodiment also determines the presence or absence of arrival of each carrier t at each work area WA1 to WA9 and the presence or absence of work of each carrier t in each actual work area WA1 to WA9.

[0057] The work control unit 55 transmits a control command for the carrier t in the work area WA to the conveyance control unit 54. Examples of such control commands include a movement command within the work area WA, a movement start command for the carrier t based on a signal (such as a work completion signal) transmitted from the working devices W1 to W9, or a movement stop command. Based on the control command from the operation control unit 55, the transfer control unit 54 transmits each control command (such as a movement command, a movement start command, a movement stop command, etc.) of the carrier t to the transfer stage 20, and controls the movement of the carrier t within the work area WA.

[0058] The operation control unit 55 controls the operation of each work device W included in the manufacturing apparatus 100. Specifically, based on the position information of the carrier t on the transfer surface 25, the operation control unit 55 transmits signals such as a work start command or a work stop command to the work devices W1 to W9. In addition, the operation control unit 55 controls the position or movement of a specific part (such as an end effector like a nozzle part) of the work device W. The operation control unit 55 of the present embodiment also determines the progress status (such as work completion) of the work of each carrier t by each work device W1 to W9. The operation of an end effector or the like when each work device W1 to W9 of the present embodiment performs work is controlled by the operation control unit 55 as described above. Alternatively, it may be controlled by a PLC (Programmable Logic Controller) provided in the work device itself. In the latter case (PLC), the work devices W1 to W9 start or stop operation control in response to a work start command or a work stop command from the operation control unit 55.

[0059] The relative position detection unit 56 detects the relative position of the work device W with respect to the transfer surface 25. The relative position detection unit 56 detects the relative position of the work device W for which the movement by the transport device 60 has been completed by a method described later. Based on the relative position detected by the relative position detection unit 56, the setting unit 57 determines the actual work area WA on the transfer surface 25. That is, the actual work area WA is set on the transfer surface 25. Based on the control command of the operation control unit 55, the transfer control unit 54 moves the carrier t with respect to the actual work area WA determined by this setting unit 57.

[0060] The above-described manufacturing control unit 50 includes a CPU, a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, a camera, a display unit, and an input device through which a user performs input operations. The CPU may include a graphics processing unit (GPU) for image display, a multimedia processor for encoding and decoding High-Definition (HD) video, etc., a display controller for controlling the display, and a power management integrated circuit (IC) for controlling power supply and charging. The display unit included in the manufacturing control unit 50 may use a touch panel or the like that combines display and operation functions. Further, the manufacturing control unit 50 may be manually operated. In this case, examples of the input device include a touch panel, a keyboard, a keypad, a touch pad, a mouse, a microphone, and the like.

[0061] The processing performed by each part (such as the conveyance control unit 54) of the manufacturing control unit 50 is realized by the CPU expanding and executing a program stored in the ROM, disk, etc. in the RAM. Such processing may be realized by an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), or may be realized by a combination of an ASIC and an FPGA.

[0062] The manufacturing apparatus 100 of the present embodiment detects the relative positions of the working devices W1 to W9 with respect to the conveyance surface 25 of the conveyance device 24 by the relative position detection unit 56, and sets the actual working area WA on the conveyance surface 25 by the setting unit 57. The setting of such an actual working area WA will be described with reference to FIG. 10. The working device W shown in the drawings after FIG. 10 is the filling device W2.

[0063] The working device W2 can be moved relative to the conveying surface 25 by being loaded on the conveying device 60 (see FIG. 10). As shown in FIG. 10(A), when the working device W2 moves closer to the conveying surface 25, the relative position detecting means D (not shown in FIGS. 10 and 11) provided in the relative position detecting unit 56 can recognize the relative position of the working device W2 with respect to the conveying surface 25 after the movement. The relative position detecting means D is, for example, the magnetic member 61 shown in FIG. 12 or the imaging device 65 shown in FIG. 13, and transmits data for detecting the relative position (hereinafter also referred to as "detection data") to the relative position detecting unit 56. The relative position detecting unit 56 calculates the relative position of the working device W2 with respect to the conveying surface 25 based on the detection data. Details of the relative position detecting means D and the calculation of the relative position will be described later.

[0064] Based on the relative position calculated by the relative position detecting unit 56, the setting unit 57 sets the actual working area WA of the working device W2 on the conveying surface 25. In the embodiment shown in FIG. 10(B), the setting unit 57 reflects the working area WA corresponding to the arrangement position of the working device W2 on the conveying surface 25, and sets the reflected area as the actual working area WA.

[0065] Since the manufacturing apparatus 100 of the present embodiment manufactures an article composed of a plurality of components (such as the container body 1b and the cap 1c), a plurality of working devices W1 to W9 are arranged along the conveying surface 25. Such a manufacturing apparatus 100 appropriately selects and combines a plurality of manufacturing apparatuses for performing various operations according to the production variety and production quantity of the article to be manufactured, and the layout of each working device W is set. According to this layout, the working device W is arranged by the conveying device 60. However, the moving accuracy of the conveying device 60 may not be strict. In that case, the consistency between the position of the conveying body t and the position of the end effector of the working device W may decrease. In contrast, in the manufacturing apparatus 100 of the present embodiment, the actual working area WA is determined on the conveying surface 25 based on the relative position of the working device W with respect to the conveying surface 25 detected by the relative position detection unit 56. Therefore, the carrier t can be accurately moved to the actual working area WA, and the carrier t can also be moved to a desired position within the working area WA. As a result, when manufacturing an article composed of a plurality of components, the position of the carrier t and the position of the end effector of the working device W can be accurately aligned, and the manufacturing accuracy can be improved. In addition, it is not necessary to install an external device for aligning the working device W with respect to the conveying surface 25 or to adjust the alignment after arranging the working device. Thereby, the risk of an increase in manufacturing cost and an increase in downtime can be reduced, and the automation of the production facility can be easily achieved.

[0066] The setting unit 57 may calculate the deviation amount between the planned working area EA and the actual working area WA based on the relative position calculated by the relative position detection unit 56 (see FIG. 11). The planned working area EA is a working area preset on the conveying surface 25 before the movement of the working device W2 is completed. The working area WA and the planned working area EA are synonymous in terms of the range of these areas and the operation definition of the end effector within the area. The planned working area EA is set on the conveying surface 25 by the setting unit 57 based on the arranged position of the set working device W2. In the form shown in FIG. 11(B), the conveyance control unit 54 can accurately execute the actual work in the actual working area WA by offsetting the control of the movement of the carrier t by the deviation amount between the planned working area EA and the actual working area WA. That is, when the arranged position of the working device W2 deviates from the preset position, and thus the planned working area EA and the working area WA deviate, the movement path of the carrier t can be corrected using the deviation amount between the planned working area EA and the actual working area WA as a correction value.

[0067] The relative position detection unit 56 is equipped with relative position detection means D for detecting the relative position of the working device W with respect to the conveyance surface 25 (hereinafter also simply referred to as "relative position"). The relative position detection means D can be provided at any location in the manufacturing apparatus 100 where the relative position can be grasped. From the viewpoint of further improving the detection accuracy of the relative position, it is preferable that the relative position detection means D is attached to the working device W. In this case, the relative position detection means D is attached to each part (such as an arm) of the working device W or to the conveyance device 60 on which the working device W is loaded.

[0068] In the embodiment shown in FIGS. 12(A) and (B), a magnetic member 61 is attached to the filling device W2 serving as the working device as the relative position detection means D. This magnetic member 61 is arranged on the conveyance surface 25 at least temporarily. The working device W2 shown in FIG. 12 is configured to be movable by the conveyance device 60, and the magnetic member 61 is provided on the mounting surface of the working device W2 in the conveyance device 60. The magnetic member 61 in this embodiment includes a plurality of magnets and has a magnet arrangement unique to the member 61. With this magnet arrangement, the manufacturing control unit 50 can identify the position and individual of the magnetic member 61 on the conveyance surface 25. That is, by providing the magnetic member 61 on the working device W side, the conveyance information acquisition unit 52 can identify the working device W equipped with the magnetic member 61. Further, the position data of the magnetic member 61 on the conveyance surface 25 is transmitted to the relative position detection unit 56 as detection data. Based on this detection data, the relative position detection unit 56 can detect the relative position of the working device W. The magnetic member 61 can have the same configuration as the conveyance body t, and the conveyance body t can be used as the relative position detection means D. That is, the conveyance body t may be attached to the working device W.

[0069] As shown in FIG. 12(B), it is preferable that the working device W2 or the conveying device 60 for conveying the working device W2 includes a pair of magnetic members 61, 61. In this case, it is preferable that the pair of magnetic members 61, 61 are provided so as to be separated from each other. The conveying device 60 shown in FIG. 12(B) is provided at both end portions of the mounting surface of the working device W2 so as to be separated from each other. In this way, by providing the working device W with two or more magnetic members 61 that are separated from each other, it is possible to easily grasp the relative position in the XY plane (conveying surface 25) by a simple method using trigonometric functions or the like.

[0070] The magnetic member 61 is movable forward and backward with respect to the conveying surface 25 via a drive unit 63 such as a motor built in the conveying device 60 or the working device W2. By this drive unit 63, when detecting the relative position, the magnetic member 61 is projected onto the conveying surface 25 (see FIGS. 12(A) and (B)), and after detecting the relative position, the magnetic member 61 can be retracted to the side of the conveying device 60 (working device W2). Such a configuration is preferable in terms of preventing collision between the magnetic member 61 and the carrier t. The arrangement and number of the magnetic members 61 in the working device W2 or the conveying device 60 are not limited to the above-described aspects, and other arrangements and numbers may be used.

[0071] In the embodiments shown in FIGS. 13(A) and (B), an imaging device 65 is attached to the working device W2 as relative position detecting means D. More specifically, an imaging device 65 such as a camera is provided at the tip side of the nozzle movable support portion 34 of the working device W2. As shown in FIG. 13(B), the imaging device 65 acquires image data of the conveying surface 25. This image data is transmitted as detection data to the relative position detection unit 56. The relative position detection unit 56 performs image processing on the image data and detects the relative position of the working device W2 with respect to the conveying surface 25 by length measurement or the like. The imaging device 65 only needs to be arranged at a position where it does not interfere with the operation of the working device W2, and the arrangement location of the imaging device 65 is not limited to the arm (nozzle movable support portion 34). For example, the imaging device 65 may be arranged on the transport device 60 that transports the working device W2. Further, the working device W or the transport device 60 may be provided with a plurality of two or more imaging devices 65. In this case, the relative position can be grasped from the geometric information (for example, epipolar geometry) obtained based on the image data captured by the plurality of imaging devices 65.

[0072] When the working device W2 is equipped with the imaging device 65 as the relative position detection means D, it is preferable to arrange the reference mark portion 67 on the transport surface 25. The reference mark portion 67 can be arranged on the transport surface 25 and is recognizable in the image acquired by the imaging device 65. From the viewpoint of more easily detecting the relative position, it is preferable to use the transport body t or the segment 21 having a feature in appearance as the reference mark portion 67. The transport body t or the segment 21 used as the reference mark portion 67 is made distinguishable from other transport bodies t or segments 21 in appearance. In other words, it is preferable to use the transport body t whose appearance is different from that of other transport bodies t as the reference mark portion 67. Similarly, it is preferable to use the segment 21 whose appearance is different from that of other segments 21 as the reference mark portion 67. For example, the transport body t used as the reference mark portion 67 has a different color or shape from other transport bodies t, or the pattern or mark applied to the surface is different from other transport bodies t. The segment 21 used as the reference mark portion 67 has a different color or shape from other segments 21, or the pattern or mark applied to the surface is different from other segments 21.

[0073] For example, in the embodiment shown in FIG. 14(A), the transport body t that is the reference mark portion 67 has a different shape from other transport bodies t. Specifically, the transport body t that is the reference mark portion 67 is disk-shaped, while other transport bodies t are rectangular plate-shaped. Also, in the embodiment shown in FIG. 14(B), the appearance of the segment 21 which is the reference mark portion 67 is different from that of the other segments 21 in terms of the presence or absence of the mark 68. Specifically, a cross mark 68 is provided on the upper surface of the segment 21 which is the reference mark portion 67, while no mark itself is provided on the upper surface of the other segments 21.

[0074] In the image acquired by the imaging device 65, the above-described appearance features are recognized by image recognition. Based on this, the relative position is detected based on the position of the reference mark portion 67 having the appearance features. Such image recognition and relative position detection are executed by the relative position detection unit 56. That is, when the manufacturing apparatus 100 includes the reference mark portion 67 and the imaging device 65 as the relative position detection means D, the relative position detection unit 56 uses the reference mark portion 67 indicating a specific position on the conveyance surface 25 as a reference to detect the relative position.

[0075] An example of such a relative position detection method will be described with reference to FIG. 15. FIG. 15 shows a disk-shaped conveyance body t which is the reference mark portion 67, and the segment 21 in which the planned work area EA and the actual work area WA are set. As shown in FIG. 15, the conveyance body t which is the reference mark portion 67 is arranged at a fixed position, point A. Point A is the position of the reference mark portion 67 preset in the planned work area EA, and is set at a predetermined position within the planned work area EA. Thereafter, the work device W2 is moved and arranged near the conveyance surface 25. After the movement of the work device W2 is completed, the actual work area WA2 is set on the conveyance surface 25. In this actual work area WA, a point B corresponding to point A in the planned work area EA is preset. That is, when there is no deviation between the planned work area EA and the actual work area WA, the positions of point A and point B on the conveyance surface 25 coincide. In the example shown in FIG. 15, since there is a deviation between the planned work area EA and the actual work area WA, the positions of point A and point B on the conveyance surface 25 are different. Point B may be set as the central point of the imaging field of the imaging device 65. Further, after the working device W2 is moved relative to the conveying surface 25, the carrier t, which is the reference mark portion 67, may be moved to a fixed position (point A).

[0076] The imaging device 65 acquires image data of the actual working area WA2 including the reference mark portion 67 (carrier t) shown in FIG. 15, and transmits this as detection data to the relative position detection unit 56. The relative position detection unit 56 performs image processing on the image data, recognizes the reference mark portion 67 by its appearance, and detects the position of the reference mark portion 67. Then, the relative position detection unit 56 calculates the deviation amount between point A and point B where the reference mark portion 67 is located. The deviation amount is indicated by a vector in a coordinate system with the conveying surface 25 as a reference. Then, the conveyance control unit 54 offsets the movement path of the carrier t by the deviation amount and controls the movement of the carrier t. Thereby, the carrier t can be surely moved by the actual working area WA.

[0077] When the carrier t is used as the reference mark portion 67, the carrier t can be moved (arranged) to a specific position on the conveying surface 25, and after finishing its role as the reference mark portion 67, it can be used for conveying an article or a component of the article in the same manner as other carriers t. When the segment 21 is used as the reference mark portion 67, after finishing its role as the reference mark portion 67, the segment 21 is used as a part of the conveying surface 25 in the same manner as other segments 21.

[0078] The relative position detection means D shown in FIG. 13 is the imaging device 65, but the relative position detection means D can be used without particular limitation as long as it can detect the appearance characteristics of the reference mark portion 67. For example, a surface photoelectric sensor or a laser scanner may be used as the relative position detection means D.

[0079] The manufacturing apparatus 100 may include a plurality of carriers t or segments 21 having characteristics in appearance as the reference mark portion 67, but from the viewpoint of suppressing equipment costs, it is preferable to include a single carrier t or segment 21 having characteristics in appearance. In addition, the carrier t used as the reference mark portion 67 has the same configuration as other carriers t used for conveyance, and may have the same appearance as other carriers t. The one carrier t is preset as the reference mark portion 67. Further, the one carrier t is arranged at a predetermined position in the work scheduled area EA, and its relative position is detected. In this case, from the viewpoint of more reliably detecting the one carrier t in the work scheduled area EA as the reference mark portion 67, preferably, after other carriers t are evacuated from the work scheduled area EA, more preferably, after other carriers t are evacuated from the detection area of the relative position detection means D (for example, the range of the imaging field in the case of the imaging device 65), the position of the one carrier t is detected.

[0080] Fig. 16 shows the flow of the method for setting the actual work area WA and the method for manufacturing an article by the carrier t using the manufacturing apparatus 100 of the above-described embodiment. The method for setting the actual work area WA shown in Fig. 16 corresponds to the embodiment shown in Fig. 10. First, the movement of the transport device 60 is started, and the working device W is arranged near the transport surface 25 (step S1). The movement of the transport device 60 is executed manually or automatically. In the subsequent step S2, it is determined whether or not the movement by the transport device 60 has been completed. Such determination is made based on the presence or absence of a movement completion signal output from the transport device 60. When the manufacturing apparatus 100 receives the movement completion signal, the process proceeds to step S3. When the movement completion signal is not received, that is, when there is no movement completion signal, step S2 is repeated. Step S2 is executed at a frequency of 0.2 times / second or more and 10000 times / second or less.

[0081] In step S3, the relative position detection means D acquires detection data. The detection data is the position information of the magnetic member 61 on the transport surface 25, or the image data obtained by imaging the transport surface 25 and the reference mark portion 67. In the subsequent step S4, based on the detection data, the relative position detection unit 56 detects (calculates) the relative position of the working device W with respect to the transport surface 25, and the process proceeds to step S5. In step S5, based on the relative position, the actual work area WA is set on the transport surface 25. In the subsequent step S6, the path generation unit 53 generates a movement path for moving the carrier t to the actual working area WA. At this time, the path generation unit 53 sets the actual working area WA and the transport area TA for each carrier t and generates a movement path.

[0082] In the subsequent step S7, each carrier t is moved along the movement path to manufacture an article (container 1). In the subsequent step S8, when it is determined that the number of manufactured articles (container 1) has reached the set planned production number, the manufacture (production) of the article (container 1) by the manufacturing apparatus 100 is terminated. On the other hand, when it is determined in step S8 that the number of manufactured containers 1 is less than the set planned production number, the process returns to step S7, and steps S7 to S8 are repeated.

[0083] The above-described transport device 60 may include a positioning jig 64 for positioning the working device W2. The transport device 60 including the positioning jig 64 of the present embodiment is configured such that when moving so as to approach the transport surface 25 (see FIG. 17(A)), the positioning jig 64 is fixed to a predetermined position of a gantry 26 located below the transport stage 20. Specifically, the positioning jig 64 is a member that protrudes in the traveling direction of the transport device 60, and by fitting into a positioning recess 26a formed in the gantry 26, the working device W2 can be more easily positioned (see FIG. 17(B)).

[0084] Also, from the viewpoint of making the positioning of the working device W2 easier, the transport device 60 may be configured to be movable together with the working device W2 and a segment 21 that forms part of the transport surface 25 (see Fig. 18(A)). In this case, the transport device 24 includes a missing portion 27 in which the segment 21 that forms the transport surface 25 and the gantry 26 that supports it are partially missing. The transport device 60 shown in Fig. 18 has the same height as the gantry 26 and places the working device W2 and the segment 21 where the working area WA is set. The shape and area of the segment 21 on which the transport device 60 is placed correspond to the shape and area of the missing portion 27. In this case, by moving the transport device 60 and fitting the portion of the transport device 60 on which the segment 21 is placed into the missing portion 27, the segment 21 can be replenished in the missing portion 27, and the working device W2 can be arranged at a predetermined position with respect to the transport surface 25 (see Fig. 18(B)).

[0085] In addition to the end effector that performs the work, the working device W may also include peripheral devices E1 and E2 that assist in the work or perform additional separate work (see Fig. 19(A)). Examples of the peripheral devices E1 and E2 include inspection devices, printing devices, gripping mechanisms for articles from the side, and processing devices for articles from the side. For the working device W equipped with the peripheral devices E1 and E2, since the carrier t can be accurately moved to the actual working area WA, the separate work performed by the peripheral devices E1 and E2 can also be accurately executed.

[0086] Furthermore, the working device W may include a plurality of working units u1 and u2 (see Fig. 19(B)). Each working unit u1 and u2 has the same configuration as the working device. The working device equipped with the working units includes, for example, combinations such as a filling machine and a capper, a capper and an inspection device, etc., and includes a plurality of working units.

[0087] As described above, the present invention has been described based on its preferred embodiments, but the present invention is not limited to the above-described embodiments. For example, the manufacturing apparatus 100 of the above-described embodiment includes a transfer stage 20 and a transfer device having a plurality of transfer bodies t that move while floating from the transfer stage 20, but is not limited to such a form. For example, the transfer device may include a transfer surface 25 set on the floor and a transfer body configured by a vehicle that freely moves on the transfer surface 25. Also, in the manufacturing method of the above-described embodiment, different types of articles 1 are manufactured for each of the movement paths C1 to C4 of the transfer body t, but the same type of article may be manufactured on different movement paths. In this case, the same type of article can be efficiently mass-produced.

Explanation of Reference Numerals

[0088] 1 Bottle container (article) 1b Container body 1c Cap 10, 12 Holding part 11b Cylindrical part 20 Transfer stage 21, 21a, 21b Segment 22 Segment body 23 Magnetic force generation part 23a, 23b, 23c, 23d Coil 24 Transfer device 25 Transfer surface 31 Apparatus body 32 Work holding part 33a, 33b, 33c, 33d Magnet array 34 Nozzle movable support part (arm) 35 Filling nozzle 37 Hand movable support part (arm) 38 Robot hand 50 Manufacturing control part 51 Communication module 52 Transfer information acquisition part 53 Path generation part 54 Transfer control part 55 Work control part 56 Relative position detection part 57 Setting part 60 Conveyance device 61 Magnetic member 63 Driving unit 64 Positioning jig 65 Imaging device 67 Reference mark portion 100 Manufacturing apparatus C1, C2, C3, C4 Movement paths t, t1, t2 Carriers D Relative position detection means TA Conveying area W Working device WA Working area (actual working area)

Claims

1. A manufacturing apparatus comprising a conveying surface, a plurality of conveyors that move freely on the conveying surface, a conveyance control unit that controls the movement of the conveyors, and a working device, wherein: it is provided with a relative position detection unit that detects the relative position of the working device with respect to the conveying surface; the working device has a working area where the working device performs work and is movable with respect to the conveying surface; the conveyance control unit moves the conveyor with respect to the actual working area on the conveying surface determined based on the detected relative position, the manufacturing apparatus.

2. The manufacturing apparatus includes a conveying stage that constitutes the conveying surface, the working device includes a magnetic member that is at least temporarily disposed on the conveying surface, the conveyor has a magnet, the conveying stage has a magnetic force generation unit that generates a magnetic force and causes the conveyor to float from the conveying stage and move on the conveying stage by interaction with the magnet included in the conveyor; the relative position detection unit detects the relative position by means of the magnetic member on the conveying surface, the manufacturing apparatus according to claim 1.

3. The manufacturing apparatus according to claim 2, wherein the working device or a conveying device that conveys the working device includes two or more of the magnetic members.

4. The magnetic member has a unique magnet arrangement and is made distinguishable by the magnet arrangement, the manufacturing apparatus according to claim 2 or 3.

5. The working device includes a drive unit that advances and retracts the magnetic member with respect to the conveying surface, the manufacturing apparatus according to any one of claims 2 to 4.

6. A reference mark portion is disposed on the conveying surface, the relative position detection unit uses the reference mark portion indicating a specific position on the conveying surface as a reference to detect the relative position, the manufacturing apparatus according to claim 1.

7. The conveying surface is constituted by a conveying stage composed of a plurality of segments, the reference mark portion is the conveyor or the segment having a characteristic appearance, the relative position detection unit, includes relative position detection means for acquiring detection data for detecting the appearance, and detects the position of the reference mark portion on the conveying surface using the detection data, the manufacturing apparatus according to claim 6.

Images