Pallet and robot system

Abstract

To stably support a workpiece.SOLUTION: A pallet 60 comprises a main body 600 that holds a workpiece W on which a working robot 32 works, and connectors 611 and 612 that are integrated with the main body and to which tool changers 15 and 31a of robots 11 and 31 that support the main body are detachably connected.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The technology disclosed herein relates to a pallet and a robot system. [Background technology]

[0002] Patent Document 1 discloses a conventional transport system. In the conventional transport system, multiple transport robots are arranged in the transport direction, each equipped with a suction cup that holds an object output from a processing machine and an arm that can drive the object together with the suction cup in the transport direction within a horizontal plane. The conventional transport system has a support base that is installed along the transport path and supports the object, and the transport robot transports the object held by the suction cup while sliding it on the support base, and hands the object over to another transport robot located downstream in the transport direction.

[0003] Patent Document 2 discloses another conventional conveying system. In this conveying system, multiple robots each having an arm and a gripper are arranged in the conveying direction. The gripper grasps and releases the conveyed object. The multiple robots convey the conveyed object by handing over and receiving the conveyed object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4274101 [Patent Document 2] Patent No. 3948327 Summary of the Invention [Problem to be solved by the invention]

[0005] In a conventional conveying system, a robot directly holds an object to be conveyed by a suction cup or a gripper. It is difficult for the robot to stably hold the object to be conveyed. In addition, the suction cup or the gripper can hold only an object to be conveyed with a specific shape. When the shape of the object to be conveyed changes, the robot cannot hold the object to be conveyed. The conventional conveying system lacks versatility.

Means for Solving the Problem

[0006] The pallet disclosed herein includes a main body that holds a workpiece on which a working robot works, and a connector that is integrated with the main body and to which a tool changer of the robot that supports the main body is detachably connected. It is provided with.

Effect of the Invention

[0007] The robot can stably support the workpiece via the pallet by connecting the tool changer and the connector.

Brief Description of the Drawings

[0008] [Figure 1] FIG. 1 is a schematic perspective view showing the arrangement of each area in the working facility according to Embodiment 1. [Figure 2] FIG. 2 is a plan view of the working facility. [Figure 3] FIG. 3 is a view of the working facility seen from the storage area side. [Figure 4] FIG. 4 is a plan view showing an example of a pallet used for conveyance. [Figure 5] FIG. 5 is a schematic view showing an operation of supporting a pallet between two robots. [Figure 6] FIG. 6 is a block diagram showing a control system of the working facility. [Figure 7] FIG. 7 is a schematic view showing a movement route of the pallet between areas. [Figure 8]FIG. 8 is a schematic perspective view showing the arrangement of each area in the work equipment according to Embodiment 2. [Figure 9] FIG. 9 is a plan view showing the second transfer area of the work equipment according to Embodiment 2. [Figure 10] FIG. 10 is a view of the work equipment according to Embodiment 2 as seen from the storage area side. [Figure 11] FIG. 11 is a perspective view showing a first modified example of the pallet. [Figure 12] FIG. 12 is a perspective view showing a second modified example of the pallet. [Figure 13] FIG. 13 is a perspective view showing a third modified example of the pallet. [Figure 14] FIG. 14 is a perspective view showing a fourth modified example of the pallet.

MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, embodiments of the pallet and the robot system will be described with reference to the drawings. The pallet and the robot system described here are examples.

[0010] (Embodiment 1) 〔Overall Structure of Work Equipment〕 FIG. 1 is a schematic perspective view showing the arrangement of each area of the work equipment 1. The work equipment 1 is equipment for performing, for example, an assembly operation of a work piece W or a welding operation on the work piece W. The work piece W includes, for example, devices such as engines, parts constituting a vehicle body such as a body, computers, and the like. The pallet and the robot system disclosed here are applied to the work equipment 1.

[0011] In the work equipment 1, the front, rear, right, left, top, and bottom are defined as shown by the arrows in FIG. 1. The front-rear direction of the work equipment 1 is the direction connecting the front left of the drawing sheet of FIG. 1 and the rear right of the drawing sheet. The front of the work equipment 1 is the front left side of the drawing sheet, and the rear of the work equipment 1 is the rear right side of the drawing sheet. The right of the work equipment 1 is the right side of the drawing sheet, and the left of the work equipment 1 is the left side of the drawing sheet. The top of the work equipment 1 is the upper side of the drawing sheet, and the bottom of the work equipment 1 is the lower side of the drawing sheet.

[0012] Note that the above definitions are for the purpose of explaining the work equipment 1, and do not limit the actual structure, configuration, and arrangement of the work equipment 1 disclosed herein and the elements included in the work equipment 1.

[0013] The work equipment 1 includes four areas: a conveyance area 10, a storage area 20, a work area 30, and a loading area 40. The conveyance area 10 is an area extending in the front-rear direction. There are a plurality (here, two) of storage areas 20. The storage areas 20 are located on the front side of the conveyance area 10. There are a plurality (here, four) of work areas 30. The work areas 30 are arranged on the left and right sides of the conveyance area 10 with the conveyance area 10 in between. The loading area 40 is located on the rear side of the conveyance area 10. Note that the loading area 40 is not an essential element of the work equipment 1.

[0014] Hereinafter, the conveyance area 10, the storage area 20, the work area 30, and the loading area 40 will be described in detail.

[0015] 〔Conveyance Area〕 The conveyance area 10 is an area for conveying the workpiece W between the storage area 20, the work area 30, and the loading area 40. Although details will be described later, in the work equipment 1, a pallet 60 is used for conveying the workpiece W. The pallet 60 holds the workpiece W.

[0016] As shown in FIG. 2, the conveyance area 10 includes two conveyance robots 11. One conveyance robot 11 is located in the front area of the conveyance area 10, and the other conveyance robot 11 is located in the rear area of the conveyance area 10. Note that the number of conveyance robots 11 in the conveyance area 10 is not particularly limited.

[0017] As shown in FIG. 3, the transfer robot 11 is a vertically articulated robot having a base 12, a plurality of arms 13, and a plurality of joints 14 connecting between the arms 13. The transfer robot 11 pivots horizontally with respect to the base 12 by one of the joints 14. The transfer robot 11 has a tool changer 15 at its tip. The transfer robot 11 couples the tool changer 15 to a pallet 60 described later and supports the workpiece W together with the pallet 60 by the arm 13. The transfer robot 11 receives and transfers the workpiece W together with the pallet 60 by rotating the arm 13 about the joint 14 while supporting the workpiece W. Note that the transfer robot 11 is not limited to a vertically articulated robot as long as it is a robot having an arm.

[0018] The transfer area 10 includes a traveling path 16. The traveling path 16 is a path for causing the transfer robot 11 to travel. The traveling path 16 is a rail. The traveling path 16 extends straight in the front-rear direction. The traveling path 16 is located above the floor surface.

[0019] The transfer robot 11 has a wheel mechanism for traveling on the traveling path 16 on the base 12. The transfer robot 11 moves in the front-rear direction along the traveling path 16 by operating the wheel mechanism. The transfer robot 11 can also transfer the workpiece W by traveling along the traveling path 16 in addition to the operation of the arm 13. Note that the traveling path 16 may be of a conveyor type.

[0020] 〔Storage Area〕 As shown in FIG. 2, two storage areas 20 are arranged at the front end position of the traveling path 16. The storage area 20 is an area for storing the workpiece W transferred by the transfer robot 11. Further, the storage area 20 is an area for dispensing the workpiece W stored on the pallet 60. Note that the number of the storage areas 20 is not limited to a specific number.

[0021] The two storage areas 20 are arranged side by side, one on the left and the other on the right. In the following description, the storage area 20 arranged on the left side may be referred to as the first storage area 20a, and the storage area 20 arranged on the right side may be referred to as the second storage area 20b. When there is no need to distinguish between the two storage areas 20, it is simply referred to as the storage area 20.

[0022] The storage area 20 includes a feeding robot 21 for placing the workpiece W on the pallet 60. The feeding robot 21 in the first storage area 20a is located to the left of the extension line of the traveling path 16. The feeding robot 21 in the second storage area 20b is located to the right of the extension line of the traveling path 16.

[0023] The feeding robot 21 is a vertically articulated robot having a plurality of arms and a plurality of joints. The feeding robot 21 is fixed to the floor surface. The feeding robot 21 has a pickup tool at its tip for gripping the workpiece W.

[0024] The storage area 20 includes a plurality of shelves 22 on which the workpiece W is stored. The plurality of shelves 22 are arranged radially around the feeding robot 21. Each shelf 22 is arranged so that the distance from the feeding robot 21 is the same. The feeding robot 21 selects the workpiece W from the shelf 22 and feeds it to the pallet 60. The workpiece W stored on the shelf 22 in the first storage area 20a and the workpiece W stored on the shelf 22 in the second storage area 20b may be the same or different.

[0025] A temporary placement area 23 for temporarily placing the pallet 60 is arranged between the two storage areas 20. The feeding robot 21 feeds the workpiece W to the pallet 60 placed in the temporary placement area 23. The front transfer robot 11 transfers the pallet 60 together with the workpiece W from the temporary placement area 23 after the workpiece W has been fed to the pallet 60 placed in the temporary placement area 23. The temporary placement area 23 may be, for example, a table.

[0026] 〔Working Area〕 As shown in FIG. 2, four work areas 30 are arranged around the travel path 16. The work area 30 is an area where work is performed on the workpiece W. Note that the number of work areas 30 is not limited to a specific number.

[0027] The work areas 30 are located on the left and right sides with the travel path 16 in between. On the left side of the travel path 16, two work areas 30 are arranged in the front - rear direction. Similarly, on the right side of the travel path 16, two work areas 30 are arranged in the front - rear direction. In the following description, the work area 30 arranged on the left - front side is referred to as the first work area 30a, the work area 30 arranged on the right - front side is referred to as the second work area 30b, the work area 30 arranged on the left - rear side is referred to as the third work area 30c, and the work area 30 arranged on the right - rear side is referred to as the fourth work area 30d. When there is no need to distinguish the four work areas 30, they are simply referred to as the work area 30.

[0028] The first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d are independent of each other. There is no conveyance path directly connecting the first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d. The first work area 30a and the third work area 30c are adjacent to each other in the front - rear direction without means such as a conveyance path and a conveyance robot for conveying the workpiece W between the first work area 30a and the third work area 30c. The second work area 30b and the fourth work area 30d are adjacent to each other in the front - rear direction without means such as a conveyance path and a conveyance robot for conveying the workpiece W between the second work area 30b and the fourth work area 30d.

[0029] The work area 30 includes two holding robots 31. The holding robot 31 is an articulated vertical robot having a plurality of arms and a plurality of joints. The holding robot 31 is fixed to the floor surface. Note that the holding robot 31 may be fixed to the ceiling surface or the wall in addition to being fixed to the floor surface. Further, the holding robot 31 may be capable of traveling without being fixed. As shown in FIG. 3, the holding robot 31 has a tool changer 31a at its tip. The holding robot 31 holds the workpiece W by holding the pallet 60. The two holding robots 31 are arranged side by side in the front-rear direction. Note that the holding robot 31 is not an essential element of the working equipment 1.

[0030] As shown in FIG. 2, the work area 30 includes two working robots 32. The working robot 32 is an articulated vertical robot having a plurality of arms and a plurality of joints. The working robot 32 is fixed to the floor surface. Note that the working robot 32 may be fixed to the ceiling surface or the wall in addition to being fixed to the floor surface. Further, the working robot 32 may be capable of traveling without being fixed. The working robot 32 has a working tool at its tip. The working tool is a hand, a welding gun, or the like. The working robot 32 performs work on the workpiece W held by the holding robot 31. Specifically, the working robot 32 assembles the workpieces W together or welds the workpiece W. The working robot 32 is located at a position farther from the travel path 16 than the holding robot 31. The two working robots 32 are arranged side by side in the front-rear direction.

[0031] In each of the first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d, the working robots 32 may have the same configuration or different configurations. The working tools of the working robots 32 may be different for each area. Further, the number of working robots 32 in one work area 30 is not limited to a specific number.

[0032] The first working area 30a, the second working area 30b, the third working area 30c, and the fourth working area 30d perform operations independently of each other using the workpiece W conveyed by the transfer robot 11. The operations performed in the first working area 30a, the second working area 30b, the third working area 30c, and the fourth working area 30d may be the same operation or different operations.

[0033] 〔Unloading Area〕 As shown in FIG. 2, the unloading area 40 is arranged at the position of the end (rear end) on the opposite side of the storage area 20 in the traveling path 16. The unloading area 40 is an area for unloading the workpiece W for which the operation has been completed. Further, the unloading area 40 is an area for storing the empty pallet 60.

[0034] The unloading area 40 includes an unloading path 41. The unloading path 41 unloads the workpiece W.

[0035] The unloading area 40 has a pallet area 42 for storing the empty pallet 60. After the unloading of the workpiece W is completed, the transfer robot 11 moves the empty pallet 60 to the pallet area 42. The transfer robot 11 receives the empty pallet 60 from the pallet area 42 and conveys it to the storage area 20.

[0036] 〔Pallet〕 The pallet 60 is a member for conveying the workpiece W.

[0037] As shown in FIG. 4, the pallet 60 has, for example, a plate-shaped main body 600. The main body 600 in the illustrated example has an elongated shape. The pallet 60 also has two connectors 611 and 612. The first connector 611 is located at the first end of the main body 600. The second connector 612 is located at the second end of the main body 600. The second end is the end on the opposite side of the first end in the elongated main body 600. The first connector 611 and the second connector 612 face upward.

[0038] Connectors 611 and 612 are the parts where the tool changer 15 of the transfer robot 11 and the tool changer 31a of the holding robot 31 are coupled. The tool changer 15 and the tool changer 31a are coupled to and decoupled from the connectors 611 and 612 in the vertical direction. The connectors 611 and 612 and the tool changers 15 and 31a can be diverted from general-purpose connectors and tool changers.

[0039] The pallet 60 has a holding area R. The holding area R is an area for holding the workpiece W. In the pallet 60 of FIG. 4, the holding area R is located between the first connector 611 and the second connector 612. In the holding area R, a first area R1 for arranging the object M which is the mounting target of the part P among the workpieces W and a second area R2 for arranging the part P among the workpieces W are set. The pallet 60 in the illustrated example is supported by the transfer robot 11 or the holding robot 31 in a posture where the main body 600 extends in the horizontal direction, as will be described later. The first area R1 and the second area R2 arrange the object M or the part P on the upper surface of the main body 600. In FIG. 4, the pallet 60 holds one object M and two parts P. The number of the object M and the parts P held by the pallet 60 is not limited to a specific number.

[0040] The main body 600 of the pallet 60 has a clamp 613 for gripping the object M or the part P. By the clamp 613 gripping the object M or the part P, the main body 600 can stably hold the object M or the part P.

[0041] As shown by the dashed line in FIG. 4, the clamp 613 is connected to the connectors 611 and 612. The transfer robot 11 or the holding robot 31 sends a gripping command or a release command for the clamp 613 to the clamp 613 through the connectors 611 and 612. The gripping command and the release command are performed by supplying air or an electrical signal from the transfer robot 11 or the holding robot 31 to the clamp 613. The transfer robot 11 or the holding robot 31 can control the gripping and releasing of the object M and the parts P held by the pallet 60.

[0042] When the tool changer 15 of the transfer robot 11 is coupled to the connector 611 or 612, and the arm 13 of the transfer robot 11 operates or the transfer robot 11 travels on the travel path 16, the workpiece W placed on the pallet 60 is transferred together with the pallet 60. When the tool changer 15 of the transfer robot 11 releases the connection with the connector 611 or 612, the connection between the pallet 60 and the transfer robot 11 is released.

[0043] As shown in FIG. 5, when transferring the pallet 60 from the transfer robot 11 to the holding robot 31, first, the tool changer 15 of the transfer robot 11 is coupled to the first connector 611, and the tool changer 31a of the holding robot 31 is coupled to the second connector 612. Next, the connection between the tool changer 15 of the transfer robot 11 and the first connector 611 is released, so that the pallet 60 is coupled only to the holding robot 31. Thus, the pallet 60 is transferred from the transfer robot 11 to the holding robot 31. When transferring the pallet 60 from the holding robot 31 to the transfer robot 11, the holding robot 31 releases the connection with the second connector 612, contrary to the above, with the transfer robot 11 and the holding robot 31 coupled to the pallet 60. When transferring the pallet 60 between two transfer robots 11, one transfer robot 11 and the other transfer robot 11 perform the same operations as described above.

[0044] When two holding robots 31 hold the workpiece W within the work area 30, the tool changer 31a of one holding robot 31 is coupled to the first connector 611, and the tool changer 31a of the other holding robot 31 is coupled to the second connector 612. The two holding robots 31 hold the workpiece W together with the pallet 60 by coupling to the pallet 60.

[0045] In the work area 30, two holding robots 31 hold the pallet 60, and the pallet 60 itself serves as the workbench. While the working robot 32, which is virtually shown in Fig. 5, is working on the workpiece W, the two holding robots 31 support the pallet 60 that holds the workpiece W. As virtually shown in Fig. 4, after the parts P in the second region R2 are assembled to the object M in the first region R1 by the working robot 32, the pallet 60 holds the object M with the parts P assembled thereto in the first region R1.

[0046] 〔Control of the working equipment〕 Fig. 6 is a block diagram showing the control relationship of the working equipment 1. The working equipment 1 includes an equipment controller 70. Note that the equipment controller 70 is not an essential element of the working equipment 1. The equipment controller 70 controls the entire working equipment 1.

[0047] The working equipment 1 includes a transfer robot controller 71. Note that the transfer robot controller 71 is not an essential element of the working equipment 1. The transfer robot controller 71 is electrically connected to the equipment controller 70. The electrical connection includes a wired or wireless connection. The transfer robot controller 71 is also electrically connected to the transfer robot 11. The transfer robot controller 71 and the transfer robot 11 are connected one-to-one. In Fig. 6, only one transfer robot controller 71 is shown, but the working equipment 1 includes the same number (here, two) of transfer robot controllers 71 as the transfer robots 11.

[0048] The transfer robot controller 71 controls the transfer robot 11. More specifically, the transfer robot controller 71 receives a control signal from the equipment controller 70 and outputs a control signal to the transfer robot 11. The transfer robot 11 receives a control signal from the transfer robot controller 71 and transfers the pallet 60 and the workpiece W.

[0049] The work equipment 1 is equipped with a meal delivery robot controller 72. Note that the meal delivery robot controller 72 is not an essential element of the work equipment 1. The meal delivery robot controller 72 is electrically connected to the equipment controller 70. The electrical connection includes wired or wireless connections. The meal delivery robot controller 72 is also electrically connected to the meal delivery robot 21. The meal delivery robot controller 72 and the meal delivery robot 21 are connected one-to-one. In Fig. 6, only one meal delivery robot controller 72 is shown, but the work equipment 1 is equipped with the same number (here, two) of meal delivery robot controllers 72 as the meal delivery robots 21.

[0050] The meal delivery robot controller 72 controls the meal delivery robot 21. More specifically, the meal delivery robot controller 72 receives a control signal from the equipment controller 70 and outputs a control signal to the meal delivery robot 21. The meal delivery robot 21 receives a control signal from the meal delivery robot controller 72, picks up the workpiece W from the shelf 22, and delivers it to the pallet 60.

[0051] The work equipment 1 is equipped with a holding robot controller 73. Note that the holding robot controller 73 is not an essential element of the work equipment 1. The holding robot controller 73 is electrically connected to the equipment controller 70. The electrical connection includes wired or wireless connections. The holding robot controller 73 is also electrically connected to the holding robot 31. The holding robot controller 73 and the holding robot 31 are connected one-to-one. In Fig. 6, only one holding robot controller 73 is shown, but the work equipment 1 is equipped with the same number (here, eight) of holding robot controllers 73 as the holding robots 31.

[0052] The holding robot controller 73 controls the holding robot 31. More specifically, the holding robot controller 73 receives a control signal from the equipment controller 70 and outputs the control signal to the holding robot 31. The holding robot 31 receives a control signal from the holding robot controller 73, receives the pallet 60 from the transfer robot 11, and holds the workpiece W together with the pallet 60.

[0053] The work equipment 1 includes a work robot controller 74. Note that the work robot controller 74 is not an essential element of the work equipment 1. The work robot controller 74 is electrically connected to the equipment controller 70. The electrical connection includes a wired or wireless connection. The work robot controller 74 is also electrically connected to the work robot 32. The work robot controller 74 and the work robot 32 are connected one-to-one. In FIG. 6, only one work robot controller 74 is shown, but the work equipment 1 includes the same number (here, eight) of work robot controllers 74 as the work robots 32.

[0054] The work robot controller 74 controls the work robot 32. More specifically, the work robot controller 74 receives a control signal from the equipment controller 70 and outputs the control signal to the work robot 32. The work robot 32 performs work on the workpiece W in response to a control signal from the work robot controller 74.

[0055] The equipment controller 70 is electrically connected to the transfer path 41. The electrical connection includes a wired or wireless connection. The equipment controller 70 controls the transfer path 41. The transfer path 41 operates in response to a control signal from the equipment controller 70.

[0056] The work equipment 1 includes a sensor 75. The sensor 75 is electrically connected to the equipment controller 70. The sensor 75 includes cameras possessed by the transfer robot 11, the feeding robot 21, the holding robot 31, and the work robot 32. The cameras detect the position of the pallet 60, the position of the workpiece W, and the like.

[0057] 〔Conveyor Route〕 Next, the conveyor route of the transfer robot 11 will be described with reference to FIG. 7. In FIG. 7, the dashed arrow indicates the conveyor route of the empty pallet 60. In FIG. 7, the solid arrow indicates the conveyor route of the workpiece W, more specifically, the conveyor route of the pallet 60 on which the workpiece W is placed.

[0058] The empty pallet 60 is received by the rear transfer robot 11 from the unloading area 40. The rear transfer robot 11 passes the empty pallet 60 to the front transfer robot 11. The front transfer robot 11 places the empty pallet 60 on the temporary storage area 23.

[0059] The object M and the parts P are dispensed onto the pallet 60 in the temporary storage area 23 by the dispensing robot 21. The front transfer robot 11 transfers the pallet 60 holding the workpiece W between the temporary storage area 23, the first work area 30a, the second work area 30b, the third work area 30c, the fourth work area 30d, and the rear transfer robot 11. The rear transfer robot 11 transfers the pallet 60 between the front transfer robot 11, the first work area 30a, the second work area 30b, the third work area 30c, the fourth work area 30d, and the unloading area 40.

[0060] The conveyor route of the pallet 60 from the temporary storage area 23 varies depending on the number of work processes. Hereinafter, the conveyor routes will be described for the cases where the number of processes is 4, 3, 2, and 1, respectively. In the following description, "extend the arm 13" means rotating the arm 13 around the joint 14 and moving the tip away from the base 12.

[0061] 〈Case of 4 Processes〉 In the case of a four - process operation, the conveyance route is such that the pallet 60 is moved in the order of the temporary storage area 23 → the first work area 30a → the second work area 30b → the third work area 30c → the fourth work area 30d → the unloading area 40. In the case of a four - process operation, the first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d each perform different operations.

[0062] After traveling toward the storage area 20, the front transfer robot 11 extends the arm 13 to the temporary storage area 23 and receives the pallet 60 holding the workpiece W from the temporary storage area 23. The front transfer robot 11 travels to the position of the first work area 30a as necessary, and then extends the arm 13 to the first work area 30a and passes the pallet 60 to the holding robot 31.

[0063] After the work in the first work area 30a is completed, the front transfer robot 11 extends the arm 13 to the first work area 30a and receives the pallet 60 from the holding robot 31. The front transfer robot 11 turns horizontally toward the second work area 30b, and then extends the arm 13 to the second work area 30b and passes the pallet 60 to the holding robot 31.

[0064] After the work in the second work area 30b is completed, the front transfer robot 11 extends the arm 13 to the second work area 30b and receives the pallet 60 from the holding robot 31. After turning horizontally, the front transfer robot 11 passes the pallet 60 to the rear transfer robot 11.

[0065] The rear transfer robot 11 travels to the position of the third work area 30c as needed, and then extends the arm 13 to the third work area 30c to deliver the pallet 60 to the holding robot 31. Note that the front transfer robot 11 that has received the pallet 60 from the holding robot 31 in the second work area 30b may deliver the pallet 60 to the holding robot 31 in the third work area 30c. Further, the rear transfer robot 11 may receive the pallet 60 from the holding robot 31 in the second work area 30b and deliver the pallet 60 to the holding robot 31 in the third work area 30c.

[0066] After the work in the third work area 30c is completed, the rear transfer robot 11 extends the arm 13 to the third work area 30c to receive the pallet 60 from the holding robot 31. The rear transfer robot 11 turns horizontally toward the fourth work area 30d, and then extends the arm 13 to the fourth work area 30d to deliver the pallet 60 to the holding robot 31.

[0067] After the work in the fourth work area 30d is completed, the rear transfer robot 11 extends the arm 13 to the fourth work area 30d to receive the pallet 60 from the holding robot 31. The rear transfer robot 11 travels toward the unloading area 40, and then extends the arm 13 to the unloading path 41 to unload the pallet 60 to the unloading area 40, thereby unloading the workpiece W. After the unloading of the workpiece W is completed, the rear transfer robot 11 places the empty pallet 60 in the pallet area 42. Or, the rear transfer robot 11 returns the empty pallet 60 to the storage area 20 through the front transfer robot 11.

[0068] The transfer robot 11 repeats the above-described operations. In practice, after transporting the pallet 60 from the first work area 30a to the second work area 30b, the transfer robot 11 transports a new pallet 60 from the storage area 20 to the first work area 30a.

[0069] In addition, in the four-step process, the movement order of the pallet 60 can be changed from the temporary storage area 23 → the first working area 30a → the second working area 30b → the third working area 30c → the fourth working area 30d → the unloading area 40.

[0070] 〈In the case of three steps〉 In the case of three steps, as an example, the transport route is such that the pallet 60 is moved in the order of the temporary storage area 23 → the first working area 30a → the second working area 30b → the third working area 30c → the unloading area 40, or in the order of the temporary storage area 23 → the first working area 30a → the second working area 30b → the fourth working area 30d → the unloading area 40. The first working area 30a, the second working area 30b, and the third working area 30c perform different operations from each other. The third working area 30c and the fourth working area 30d perform the same operation.

[0071] After traveling toward the storage area 20, the front transfer robot 11 extends the arm 13 to the temporary storage area 23 and receives the pallet 60 from the temporary storage area 23. After traveling to the position of the first working area 30a as necessary, the front transfer robot 11 extends the arm 13 to the first working area 30a and delivers the pallet 60 to the holding robot 31.

[0072] After the operation in the first working area 30a is completed, the front transfer robot 11 extends the arm 13 to the first working area 30a and receives the pallet 60 from the holding robot 31. After turning horizontally toward the second working area 30b, the front transfer robot 11 extends the arm 13 to the second working area 30b and delivers the pallet 60 to the holding robot 31.

[0073] After the operation in the second working area 30b is completed, the front transfer robot 11 extends the arm 13 to the second working area 30b and receives the pallet 60 from the holding robot 31. After turning horizontally, the front transfer robot 11 delivers the pallet 60 to the rear transfer robot 11.

[0074] The rear transfer robot 11 travels to the third working area 30c and the fourth working area 30d as necessary, and then extends its arm 13 to either the third working area 30c or the fourth working area 30d to hand over the pallet 60 to the holding robot 31 in one of the working areas 30. The rear transfer robot 11 hands over the pallet 60 to the holding robot 31 in either the third working area 30c or the fourth working area 30d, whichever working area 30 is not currently working in. Note that the front transfer robot 11 that receives the pallet 60 from the holding robot 31 in the second working area 30b may hand over the pallet 60 to the holding robot 31 in the third working area 30c or the fourth working area 30d. Alternatively, the rear transfer robot 11 may receive the pallet 60 from the holding robot 31 in the second working area 30b and hand over the pallet 60 to the holding robot 31 in the third working area 30c or the fourth working area 30d.

[0075] After completing work in the third working area 30c or the fourth working area 30d, the rear transfer robot 11 extends its arm 13 to the third working area 30c or the fourth working area 30d to receive the pallet 60 from the holding robot 31. The rear transfer robot 11 travels toward the unloading area 40, and then extends its arm 13 to the unloading path 41 to unload the pallet 60 to the unloading area 40, thereby unloading the workpieces W. After completing the unloading of the workpieces W, the rear transfer robot 11 places the empty pallet 60 in the pallet area 42. Alternatively, the rear transfer robot 11 returns the empty pallet 60 to the storage area 20 via the front transfer robot 11.

[0076] The transfer robot 11 repeats the above-described operations. In reality, after transferring the pallet 60 from the first working area 30a to the second working area 30b, the transfer robot 11 transfers a new pallet 60 from the storage area 20 to the first working area 30a.

[0077] Note that in the case of three processes, the transport route for the pallet 60 may be a route that moves the pallet 60 in the order of the temporary storage area 23 → the first work area 30a → the third work area 30c → the fourth work area 30d → the unloading area 40, or in the order of the temporary storage area 23 → the second work area 30b → the third work area 30c → the fourth work area 30d → the unloading area 40.

[0078] <In the case of two processes> In the case of two processes, the pallet 60 is transported along two transport routes. One route is a route that moves in the order of the temporary storage area 23 → the first work area 30a → the third work area 30c → the unloading area 40. The other route is a route that moves in the order of the temporary storage area 23 → the second work area 30b → the fourth work area 30d → the unloading area 40. The first work area 30a and the second work area 30b perform the same work. The third work area 30c and the fourth work area 30d perform the same work. The first work area 30a and the third work area 30c perform different work. The second work area 30b and the fourth work area 30d perform different work.

[0079] The front transport robot 11 travels towards the storage area 20, then extends the arm 13 to the temporary storage area 23, and receives the pallet 60 from the temporary storage area 23. The front transport robot 11 travels to the position of the first work area 30a as needed, then extends the arm 13 to the first work area 30a, and delivers the pallet 60 to the holding robot 31. The front transport robot 11 also delivers the pallet 60 to the holding robot 31 in the second work area 30b in the same manner as described above.

[0080] After completing its work in the first work area 30a, the front transfer robot 11 extends its arm 13 to the first work area 30a to receive the pallet 60 from the holding robot 31. The front transfer robot 11 rotates horizontally and then hands over the pallet 60 to the rear transfer robot 11. The rear transfer robot 11 travels to the third work area 30c as needed, then extends its arm 13 to the third work area 30c to hand over the pallet 60 to the holding robot 31. After completing its work in the second work area 30b, the front transfer robot 11 receives the pallet 60 from the holding robot 31 in the second work area 30b in the same manner as described above and hands over the workpiece W on the pallet 60 to the rear transfer robot 11. The rear transfer robot 11 also hands over the pallet 60 to the holding robot 31 in the fourth work area 30d in the same manner as described above. The front transfer robot 11 that receives the pallet 60 from the holding robot 31 in the first working area 30a may hand the pallet 60 to the holding robot 31 in the third working area 30c. The front transfer robot 11 that receives the pallet 60 from the holding robot 31 in the second working area 30b may hand the pallet 60 to the holding robot 31 in the fourth working area 30d. The rear transfer robot 11 may receive the pallet 60 from the holding robot 31 in the first working area 30a and hand the pallet 60 to the holding robot 31 in the third working area 30c. The rear transfer robot 11 may receive the pallet 60 from the holding robot 31 in the second working area 30b and hand the pallet 60 to the holding robot 31 in the fourth working area 30d.

[0081] After the work in the third work area 30c is completed, the rear transfer robot 11 extends the arm 13 to the third work area 30c and receives the pallet 60 from the holding robot 31. After traveling toward the unloading area 40, the rear transfer robot 11 extends the arm 13 to the transfer path 41 and unloads the pallet 60, thereby unloading the workpiece W. After the work in the fourth work area 30d is completed, the rear transfer robot 11 also receives the pallet 60 from the holding robot 31 in the fourth work area 30d and unloads the workpiece W in the same manner as described above. After unloading the workpiece W, the rear transfer robot 11 places the empty pallet 60 in the pallet area 42. Alternatively, the rear transfer robot 11 returns the empty pallet 60 to the storage area 20 through the front transfer robot 11.

[0082] The transfer robot 11 repeats the above-described operations. In practice, after transporting the pallet 60 from the first work area 30a to the third work area 30c, the transfer robot 11 transports a new pallet 60 from the storage area 20 to the first work area 30a. The transfer robot 11 also transports a new pallet 60 to the second work area 30b in the same manner.

[0083] In the case of two processes, by dividing the transfer route into two as described above, the same work can be carried out simultaneously in two.

[0084] Depending on the progress of the work in the third work area 30c and the fourth work area 30d, the transfer robot 11 may transfer the pallet 60 for which the work in the first work area 30a has been completed to the holding robot 31 in the fourth work area 30d, or may transfer the pallet 60 for which the work in the second work area 30b has been completed to the holding robot 31 in the third work area 30c.

[0085] 〈In the case of one process〉 In the case of Project 1, the pallet 60 is conveyed through four conveyance routes. Each route is a route that moves in the order of the temporary storage area 23 → each work area 30 → the unloading area 40. The first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d perform the same work.

[0086] The front transfer robot 11 travels toward the storage area 20, then extends the arm 13 to the temporary storage area 23, and receives the pallet 60 from the temporary storage area 23. The front transfer robot 11 travels to the position of the first work area 30a as needed, then extends the arm 13 to the first work area 30a, and passes the pallet 60 to the holding robot 31. The front transfer robot 11 also passes the pallet 60 to the holding robot 31 in the second work area 30b in the same manner as described above.

[0087] The front transfer robot 11 also receives the pallet 60 from the temporary storage area 23 in the same manner as described above and passes it to the rear transfer robot 11. The rear transfer robot 11 travels to the position of the third work area 30c as needed, then extends the arm 13 to the third work area 30c, and passes the pallet 60 to the holding robot 31. The front transfer robot 11 and the rear transfer robot also pass the pallet 60 to the holding robot 31 in the fourth work area 30d in the same manner as described above. Note that the front transfer robot 11 may directly pass the pallet 60 to the holding robot 31 in the third work area 30c or the fourth work area 30d.

[0088] After the work in the first work area 30a is completed, the front transfer robot 11 extends the arm 13 to the first work area 30a and receives the pallet 60 from the holding robot 31. After the front transfer robot 11 turns horizontally, it passes the pallet 60 to the rear transfer robot 11. After the rear transfer robot 11 travels toward the unloading area 40, it extends the arm 13 to the unloading path 41 and unloads the pallet 60, thereby unloading the workpiece W. After the unloading of the workpiece W by the rear transfer robot 11 is completed, it places the empty pallet 60 in the pallet area 42. Alternatively, the rear transfer robot 11 returns the empty pallet 60 to the storage area 20 through the front transfer robot 11. After the work in the second work area 30b is completed, the front transfer robot 11 and the rear transfer robot 11 also receive the pallet 60 from the holding robot 31 in the second work area 30b and unload the workpiece W in the same manner as described above. Incidentally, the rear transfer robot 11 may directly receive the pallet 60 from the holding robot 31 in the first work area 30a or the second work area 30b and unload the pallet 60 to the unloading area 40.

[0089] After the work in the third work area 30c is completed, the rear transfer robot 11 extends the arm 13 to the third work area 30c and receives the pallet 60 from the holding robot 31. After the rear transfer robot 11 travels toward the unloading area 40, it extends the arm 13 to the unloading path 41 and unloads the pallet 60, thereby unloading the workpiece W. After the unloading of the workpiece W by the rear transfer robot 11 is completed, it places the empty pallet 60 in the pallet area 42. Alternatively, the rear transfer robot 11 returns the empty pallet 60 to the storage area 20 through the front transfer robot 11. After the work in the fourth work area 30d is completed, the rear transfer robot 11 also receives the pallet 60 from the holding robot 31 in the fourth work area 30d and unloads the workpiece W in the same manner as described above.

[0090] The transfer robot 11 repeats the above-described operations. In practice, after the transfer robot 11 unloads the pallet 60 from the first work area 30a, it transfers a new pallet 60 from the storage area 20 to the first work area 30a. The transfer robot 11 similarly transfers a new pallet 60 to the second work area 30b, the third work area 30c, and the fourth work area 30d.

[0091] In the case of one process, by dividing the transfer route into four as described above, the same work can be carried out simultaneously in four.

[0092] 〔Operational Effects of Embodiment 1〕 In the working equipment 1, the storage area 20 is arranged at the end position of the transfer area 10, and a plurality of working areas 30 that operate independently are arranged around the transfer area 10. The working equipment 1 can move the workpiece W from the storage area 20 to the working area 30 and also move it between the working areas 30 by the transfer robot 11 in the transfer area 10. Since the working equipment 1 has a layout in which one transfer robot 11 can transfer the workpiece W across a plurality of areas, the transfer efficiency of the workpiece W can be improved. Further, since the transfer robot 11 travels on the travel path 16, the number of transfer robots 11 can be minimized.

[0093] In the working equipment 1, the transfer robot 11 transfers the pallet 60 on which the workpiece W is arranged, and the storage area 20 includes a feeding robot 21 that arranges the workpiece W on the pallet 60. In addition to the transfer robot 11 transferring the pallet 60, since the feeding robot 21 performs the feeding of the workpiece W, the operation of the transfer robot 11 is less likely to be affected by the shape of the workpiece W. Since the operation of the transfer robot 11 can be simplified, the transfer efficiency of the workpiece W can be improved. Further, since the transfer robot 11 can transfer the workpiece W together with the pallet 60 at once, the transfer efficiency can be improved. The transfer robot 11 supports the pallet 6 with the tool changer 15 or 31a and the connectors 611, 612, so that the workpiece W can be stably supported.

[0094] In the working equipment 1, the unloading area 40 is arranged at the position of the end on the opposite side of the storage area 20 on the traveling path 16. Since the storage area 20, the working area 30, and the unloading area 40 are arranged in order along the traveling path 16, the reciprocating motion of the transfer robot 11 on the traveling path 16 can be reduced. Since the operation of the transfer robot 11 can be simplified, the transfer efficiency of the workpiece W can be improved.

[0095] In the working equipment 1, the working area 30 further includes a holding robot 31 that holds the workpiece W together with the pallet 60. The transfer robot 11 receives the pallet 60 from the storage area 20 and delivers it to the holding robot 31. Since the working equipment 1 is configured to transfer the pallet 60 between robots instead of placing the pallet 60 on the workbench, misalignment of the pallet 60 is less likely to be a problem. The transfer of the pallet 60 from the transfer area 10 to the working area 30 can be made more efficient. Also, when the holding robot 31 holds the pallet 60, the pallet 60 can be used as a workbench. Since there is no need for a space to install the workbench, the space of the working area 30 can be made compact. Further, since the holding robot 31 supports the pallet 60 via the tool changer 15 or 31a and the connectors 611, 612, the workpiece W can be stably supported. Since two holding robots 31 support one pallet 60, the support rigidity of the pallet 60 is increased. The working robot 32 can stably perform operations on the workpiece W on the pallet 60.

[0096] The pallet 60 is also supplied to the working robot 32 while holding both the object M and the parts P, and holds the object M with the parts P assembled thereon as it is after the operation by the working robot 32. The transfer robot 11 and the holding robot 31 can efficiently perform the supply of the workpiece W to the working robot 32 and the unloading of the workpiece W after the operation by the working robot 32 using the pallet 60.

[0097] The pallet 60 can further stably hold the workpiece W using the clamp 613. The clamp 613 can switch between gripping and releasing the workpiece W in response to a gripping command and a releasing command from the transfer robot 11 or the holding robot 31. The pallet 60 having the clamp 613 further improves the transfer efficiency of the workpiece W in the work facility 1.

[0098] Here, when the shape of the workpiece W is changed, it is only necessary to change the holding form of the workpiece W on the pallet 60, and the connection structure between the transfer robot 11 or the holding robot 31 and the pallet 60 does not need to be changed. The robot system using the pallet 60 has high versatility.

[0099] In the work facility 1, the plurality of work areas 30 are arranged with the traveling path 16 therebetween. Since the reciprocating motion of the transfer robot 11 on the traveling path 16 is reduced, the operation of the transfer robot 11 can be simplified, and the transfer efficiency of the workpiece W can be improved.

[0100] [Modification of Embodiment 1] The work area 30 may perform operations other than the welding operation on the workpiece W and the assembly operation between the workpieces W. For example, the work area 30 may perform the packing operation of the workpiece W.

[0101] (Embodiment 2) Hereinafter, Embodiment 2 will be described in detail with reference to the drawings. In the following description, the same reference numerals are given to the parts common to the above-described Embodiment 1, and the detailed description thereof will be omitted.

[0102] FIG. 8 shows a work facility 201 according to Embodiment 2. The work facility 201 includes a first transfer area 210 and a second transfer area 250. The first transfer area 210 has the same configuration as the transfer area 10 of the above-described Embodiment 1. The configurations of the storage area 20, the work area 30, and the carry-out area 40 are the same as the configurations of the storage area 20, the work area 30, and the carry-out area 40 in the above-described Embodiment 1.

[0103] The second transfer area 250 is an area for transferring large workpieces W such as automobile door frames. The second transfer area 250 is arranged above the first transfer area 210, the storage area 20, the work area 30, and the unloading area 40. The workpiece W transferred by the second transfer area 250 is the object M to which the parts P are attached.

[0104] The work facility 201 includes two second transfer areas 250. One of the second transfer areas 250 is arranged above the first work area 30a and the third work area 30c. The other of the second transfer areas 250 is arranged above the second work area 30b and the fourth work area 30d.

[0105] As shown in FIG. 9, the second transfer area 250 includes a second transfer robot 251. As shown in FIG. 10, the second transfer robot 251 is an articulated robot having a base 252, a plurality of arms 253, and a plurality of joints 254 connecting between the arms 253. The second transfer robot 251 pivots horizontally with respect to the base 252 by one of the joints 254. The second transfer robot 251 has a tool changer 255 at its tip. The second transfer robot 251 supports the workpiece W together with the first pallet 261 by coupling the tool changer 255 to the first pallet 261. The second transfer robot 251 receives and transfers the workpiece W together with the first pallet 261 by rotating the arm 253 about the joint 254 while supporting the workpiece W. The second transfer robot 251 is a larger robot than the transfer robot 11 arranged in the first transfer area 210.

[0106] The first pallet 261 may be the same as or different from the pallet 60 described above. The first pallet 261 may have, for example, one connector. This is because the second transfer robot 251 does not perform the transfer of the pallet between robots or the support of the pallet by two robots.

[0107] The second transfer robot 251 extends the arm 253 from the upper side to the lower side to receive the first pallet 261 on which the workpiece W is placed from the storage area 20 or from a supply area of a workpiece W different from the storage area 20. The second transfer robot 251 extends the arm 253 to position the workpiece W together with the first pallet 261 in the work area 30. The second transfer robot 251 holds the workpiece W within the work area 30.

[0108] As shown in FIG. 10, the second transfer area 250 includes a raised platform 257 and a second travel path 256. The raised platform 257 is fixed to the wall or suspended from the ceiling. The raised platform 257 extends in the front-rear direction. The second travel path 256 is a path for the second transfer robot 251 to travel. The second travel path 256 is a rail. The second travel path 256 extends in the front-rear direction along the longitudinal direction of the raised platform 257.

[0109] The second transfer robot 251 has a wheel mechanism for traveling on the second travel path 256 on the base 252. The second transfer robot 251 moves in the front-rear direction along the second travel path 256 by operating the wheel mechanism.

[0110] In Embodiment 2, the first transfer area 210 transfers the workpiece W corresponding to the parts attached to the object M. The parts are arranged on a second pallet 262 different from the first pallet 261 in the storage area 20. The second pallet 262 holds one or more parts. The transfer robot 11 receives the second pallet 262 from the storage area 20 and transfers it to the work area 30. The shape of the second pallet 262 may be the same as or different from the shape of the first pallet 261. The shape of the second pallet 262 may be the same as or different from the pallet 60 described above.

[0111] In Embodiment 2, the holding robot 31 in the work area 30 receives the second pallet 262 from the transfer robot 11. The holding robot 31 holds the parts together with the second pallet 262. The work robot 32 attaches the parts to the workpiece W held by the second transfer robot 251.

[0112] 〔Operation and Effect of Embodiment 2〕 The work facility 201 has an arm 253 that supports the object M to which the parts are to be attached and includes a second transfer robot 251 that transfers the object M between the storage area 20 and the work area 30, and is provided with a second transfer area 250 located above the first transfer area 210. The transfer robot 11 in the first transfer area 210 transfers the parts between the storage area 20 and the work area 30. The work facility 201 can transfer the object M and the parts separately in the first transfer area 210 and the second transfer area 250. Even when the object M is large and the transfer robot 11 alone cannot transfer the object M and the parts simultaneously, the work facility 201 can transfer the object M and the parts simultaneously by the transfer robot 11 and the second transfer robot 251. The work facility 201 can improve the transfer efficiency of the workpiece W.

[0113] Since the work facility 201 includes a second travel path 256 on which the second transfer robot 251 travels in the second transfer area 250, the transfer efficiency of the workpiece W can be improved.

[0114] 〔Modification of Embodiment 2〕 The holding robot 31 was arranged in the work area 30 in the work facility 201. The holding robot 31 may be omitted. In this case, the transfer robot 11 holds the parts.

[0115] The work in the work area 30 was to attach parts to the object M. The work performed in the work area 30 may be other work. For example, the work area 30 may perform a work of welding the workpiece W.

[0116] 〔Modification of Pallet〕 FIG. 11 shows a pallet 601 according to the first modification. The first connector 611 and the second connector 612 of the pallet 601 may be arranged side by side on one side of the main body 600 that extends in the horizontal direction. The first connector 611 and the second connector 612 face upward. The holding area R is set at a position displaced from the first connector 611 and the second connector 612 on the upper surface of the main body 600.

[0117] FIG. 12 shows a pallet 602 according to the second modification. The main body 605 of the pallet 602 is supported by the transfer robot 11, the holding robot 31, or the second transfer robot 251 in a posture that extends in the vertical direction. The first connector 611 and the second connector 612 are arranged side by side at the upper end of the plate-shaped main body 605. The first connector 611 and the second connector 612 face upward. The holding area R may be set on the first surface of the main body 605, that is, the front surface in FIG. 12. The holding area R may be set on the second surface of the main body 605, that is, the back surface in FIG. 12. The holding area R may be set on both the first surface and the second surface of the main body 605.

[0118] FIG. 13 shows a pallet 603 according to the third modification. The first connector 611 and the second connector 612 are horizontal at the upper end of the main body 605 that extends in the vertical direction. More specifically, the first connector 611 faces the horizontal first direction, and the second connector 612 faces the horizontal second direction. The first direction and the second direction are opposite to each other. The holding area R may be set on the first surface of the main body 605, may be set on the second surface of the main body 605, or may be set on both the first surface and the second surface of the main body 605.

[0119] FIG. 14 shows a pallet 604 according to the fourth modification. The first connector 611 faces upward at the upper end of the main body 606 that extends in the vertical direction. The second connector 612 faces downward at the lower end of the main body 606 that extends in the vertical direction. The holding region R may be set on the first surface of the main body 606, may be set on the second surface of the main body 606, or may be set on both the first surface and the second surface of the main body 606. Further, the main body 606 in the illustrated example is in the shape of a hollow box. The holding region R may be set inside the main body 606.

[0120] In addition, the various configurations described above can be combined with each other within a possible range.

[0121] (Aspect) The above-described embodiments are specific examples of the following aspects.

[0122] (Aspect 1) A main body (600, 605, 606) that holds a workpiece (W) on which a work robot (32) works, A connector (611) that is integrated with the main body (600, 605, 606) and to which a tool changer (15, 31a, 255) of a robot (11, 31, 251) that supports the main body (600, 605, 606) is detachably connected, A pallet (60, 601, 602, 603, 604, 261, 262) comprising the same.

[0123] The robot (11, 31, 251) can stably support the workpiece (W) using the pallet (60, 601, 602, 603, 604, 261, 262). Even if the shape of the workpiece (W) changes, the connection structure between the robot (11, 31, 251) and the pallet (60, 601, 602, 603, 604, 261, 262) does not change. The pallet (60, 601, 602, 603, 604, 261, 262) enhances the versatility of a robot system that conveys or supports the workpiece (W).

[0124] (Aspect 2) In the pallet according to Aspect 1, The body (600, 605, 606) is a pallet (60, 601, 602, 603, 604, 262) that holds a plurality of the workpieces (W) including a first workpiece (P) and a second workpiece (M).

[0125] By using the pallet (60, 601, 602, 603, 604, 262), the robot (11, 31, 251) can convey or support a plurality of workpieces (W) collectively. The pallet (60, 601, 602, 603, 604, 262) improves the conveyance efficiency of the robot system.

[0126] (Aspect 3) In the pallet according to Aspect 2, the first workpiece (P) is assembled to the second workpiece (M) by the work robot (32), the body (600, 605, 606) is a pallet (60, 601, 602, 603, 604) that holds the second workpiece (M) to which the first workpiece (P) is assembled.

[0127] The pallet (60, 601, 602, 603, 604) holds the first workpiece (P) and the second workpiece (M) before assembly, and also holds the second workpiece (M) to which the first workpiece (P) is assembled. The pallet (60, 601, 602, 603, 604) eliminates the need to transfer the workpiece (W) before and after the work by the work robot (32). The conveyance efficiency of the robot system is increased.

[0128] (Aspect 4) In the pallet according to any one of Aspects 1 to 3, the pallet (60, 601, 602, 603, 604, 262) further includes a second connector (612) integrated with the body (600, 605, 606).

[0129] If the first tool changer of the first robot is connected to the first connector (611) and the second tool changer of the second robot is connected to the second connector (612), then the pallet (60, 601, 602, 603, 604, 262) can be transferred between the first robot and the second robot, or the first robot and the second robot can support the pallet (60, 601, 602, 603, 604, 262).

[0130] (Aspect 5) In the pallet according to any one of Aspects 1 to 4, the main body (600, 605, 606) has a clamp (613) that grips the workpiece (W) and releases the gripped workpiece (W), the connectors (611, 612) are connected to the clamp (613) and relay a release command from the robot (11, 31, 251) to which the tool changer (15, 31a, 255) is connected to the clamp (613), for the pallet (60, 601, 602, 603, 604, 261, 262).

[0131] Since the clamp (613) can stably grip the workpiece (W), the robot (11, 31, 251) can stably support the workpiece (W) using the pallet (60, 601, 602, 603, 604, 261, 262). Also, the robot (11, 31, 251) can control the gripping and releasing by the clamp (613) via the connectors (611, 612).

[0132] (Aspect 6) A pallet (60, 601, 602, 603, 604, 262) having first and second connectors (611, 612) and holding a workpiece (W) on which a working robot (32) works, a first robot (11, 31) in which a first tool changer (15, 31a) is detachably connected to the first connector (611) and which supports the pallet (60, 601, 602, 603, 604, 262), A second tool changer (15, 31a) is detachably connected to the second connector (612), and supports the pallet (60, 601, 602, 603, 604, 262). A second robot (11, 31) is configured to transfer the pallet (60, 601, 602, 603, 604, 262) with the first robot (11, 31) to convey the workpiece (W) to the working position of the working robot (32). A robot system comprising the same.

[0133] The first robot (11, 31) and the second robot (11, 31) can stably and efficiently convey the workpiece (W) by transferring the pallet (60, 601, 602, 603, 604, 262).

[0134] (Aspect 7) A pallet (60, 601, 602, 603, 604) having first and second connectors (611, 612) and holding a workpiece (W) on which a working robot (32) works; A first robot (31) to which a first tool changer (31a) is detachably connected to the first connector (611) and which supports the pallet (60, 601, 602, 603, 604); A second robot (31) to which a second tool changer (31a) is detachably connected to the second connector (612) and which supports the pallet (60, 601, 602, 603, 604) holding the workpiece (W) together with the first robot (31) while the working robot (32) is working on the workpiece (W); A robot system comprising the same.

[0135] By two robots, i.e., the first robot (31) and the second robot (31), supporting the pallet (60, 601, 602, 603, 604), the support rigidity of the pallet (60, 601, 602, 603, 604) and the workpiece (W) is increased. The working robot (32) can perform operations on the workpiece (W) on the pallet (60, 601, 602, 603, 604).

[0136] (Aspect 8) In the robot system according to Aspect 7, the pallets (60, 601, 602, 603, 604) hold a plurality of the workpieces (W) including the first workpiece (P) and the second workpiece (M), the work robot (32) assembles the first workpiece (P) to the second workpiece (M) held on the pallet (60, 601, 602, 603, 604) on the pallet (60, 601, 602, 603, 604), the pallet (60, 601, 602, 603, 604) holds the second workpiece (M) to which the first workpiece (P) is assembled, a robot system.

[0137] Before and after the operation by the work robot (32), it is not necessary to transfer the workpieces (W), so the transfer efficiency of the robot system is increased.

Explanation of Signs

[0138] 11 Transfer robot 15 Tool changer 251 Second transfer robot 255 Tool changer 261 First pallet 262 Second pallet 31 Holding robot 31a Tool changer 32 Work robot 60 Pallet 600 Main body 601 Pallet 602 Pallet 603 Pallet 604 Pallet 605 Main body 606 Main body 611 First connector 612 Second connector 613 Clamp M Object (Workpiece) P Part (Workpiece) W Workpiece

Claims

1. A body that holds a workpiece on which a working robot works, A connector that is integrated with the body and to which a tool changer of the robot that supports the body is detachably connected, A pallet comprising:

2. In the pallet according to claim 1, The body holds a plurality of the workpieces including a first workpiece and a second workpiece, a pallet.

3. In the pallet according to claim 2, The first workpiece is assembled by the working robot to the second workpiece, The body holds the second workpiece to which the first workpiece is assembled, a pallet.

4. In the pallet according to any one of claims 1 to 3, A pallet further comprising a second connector integrated with the body.

5. In the pallet according to claim 1, The body has a clamp that grips the workpiece and releases the gripped workpiece, The connector is connected to the clamp and relays a release command from the robot to which the tool changer is connected to the clamp, a pallet.

6. A pallet having first and second connectors and holding a workpiece on which a working robot works, A first robot to which a first tool changer is detachably connected to the first connector and that supports the pallet, A second robot to which a second tool changer is detachably connected to the second connector and that supports the pallet and transfers the pallet to and from the first robot in order to convey the workpiece to a working position of the working robot, A robot system comprising:

7. A pallet having first and second connectors and holding a workpiece on which a working robot works, A first robot to which a first tool changer is detachably connected to the first connector and that supports the pallet, A second robot to which a second tool changer is detachably connected to the second connector and that supports the pallet holding the workpiece together with the first robot while the working robot is working on the workpiece, A robot system comprising:

8. In the robot system according to claim 7, The pallet holds a plurality of the workpieces including a first workpiece and a second workpiece. The work robot assembles the first workpiece to the second workpiece held on the pallet on the pallet. The pallet holds the second workpiece to which the first workpiece is assembled, a robot system.

Images