Conveyance system

Abstract

To provide a conveyance system that is downsized.SOLUTION: A conveyance system 1 is provided with: conveying robots 11 that have arms 13 for supporting work-pieces W which are arranged in a work facility 2 which includes a storage area 20 storing the work-pieces W and a plurality of work areas 30 in which work is performed to the work-pieces W, and convey the work-pieces W; a running path 16, around which the storage area 20 and the plurality of work areas 30 are arranged, on which the conveying robots 11 run; and a conveying robot controller 71 that receives the work-pieces W from the storage area 20, conveys the work-pieces W to the work areas 30, utilizing the running path 16 and controls the conveying robots 11 so that the work-pieces W are conveyed between the plurality of work areas 30.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The technology disclosed herein relates to a conveyance system.

Background Art

[0002] Patent Document 1 discloses a conventional conveyance system. The conventional conveyance system includes a first robot group, a second robot group, and a third robot group. The first robot group, the second robot group, and the third robot group are arranged side by side along the work line. The first robot group is arranged in the area of the current process, the second robot group is arranged in the area of the next process, and the third robot group is arranged between the first robot group and the second robot group. The conventional conveyance system conveys the object to be conveyed by delivering and receiving the object to be conveyed among the first robot group, the second robot group, and the third robot group.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a conveyance system such as that of Patent Document 1, conveyance robots are required between areas. As the number of areas increases, the number of conveyance robots also increases. Each time the number of areas increases, the conveyance system becomes larger, so there is room for improvement from the perspective of miniaturizing the conveyance system.

Means for Solving the Problems

[0005] The technology disclosed herein relates to a conveyance system. The conveyance system It is arranged in a work facility including a storage area where workpieces are stored and a plurality of work areas where operations are performed on the workpieces, has an arm for supporting the workpieces, and a transfer robot for transferring the workpieces. There is a travel path where the storage area and the plurality of work areas are arranged around and the transfer robot travels. A robot controller that receives the workpiece from the storage area, transfers the workpiece to the work area using the travel path, and controls the transfer robot to transfer the workpiece between the plurality of work areas.

Advantages of the Invention

[0006] The above-described transfer system can transfer workpieces from the storage area to the work area and between work areas using a common transfer robot, and the number of transfer robots can be reduced, so the system can be miniaturized.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the transfer system will be described with reference to the drawings. The monitoring system described here is an example.

[0009] 〔Overall Structure of Working Equipment〕 FIG. 1 is a schematic perspective view showing the arrangement of each area of the working equipment 2 in which the transfer system 1 is adopted. The working equipment 2 is equipment for performing, for example, an assembly operation of a workpiece W or a welding operation on the workpiece W. The workpiece W includes, for example, devices such as engines, parts constituting a vehicle body such as a body, and computers.

[0010] In the working equipment 2, the front, rear, right, and left are defined as shown by the arrows in FIG. 1. The front of the working equipment 2 is the upper side of the paper surface of FIG. 1, and the rear of the working equipment 2 is the lower side of the paper surface of FIG. 1. The right of the working equipment 2 is the right side of the paper surface of FIG. 1, and the left of the working equipment 2 is the left side of the paper surface of FIG. 1. In the working equipment 2, the upper and lower are defined as shown by the arrows in FIG. 2. The right of the working equipment 2 is the upper side of the paper surface of FIG. 2, and the left of the working equipment 2 is the lower side of the paper surface of FIG. 1.

[0011] Note that the above definitions are for the description of the working equipment 2 and do not limit the actual structure, configuration, and arrangement of the working equipment 2 and the elements included in the working equipment 2 disclosed here.

[0012] The work equipment 2 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 in front 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 behind the conveyance area 10. Note that the loading area 40 is not an essential element of the conveyance system 1.

[0013] Hereinafter, the conveyance area 10, the storage area 20, the work area 30, and the loading area 40 will be described in detail.

[0014] 〔Conveyance Area〕 The conveyance area 10 is an area for conveying the workpiece W among the storage area 20, the work area 30, and the loading area 40.

[0015] As shown in FIG. 1, 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. In the following description, the conveyance robot 11 located relatively in the front is referred to as the first conveyance robot 11a, and the conveyance robot 11 located relatively in the rear is referred to as the second conveyance robot 11b. When the first conveyance robot 11a and the second conveyance robot 11b are not distinguished, they are simply referred to as the conveyance robot 11. Note that the number of conveyance robots 11 in the conveyance area 10 is not particularly limited, and it may be one, or three or more.

[0016] As shown in Fig. 2, 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.

[0017] 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.

[0018] 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.

[0019] 〔Storage Area〕 As shown in Fig. 1, 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 stored workpiece W to the pallet 60. Note that the number of storage areas 20 is not limited to a specific number.

[0020] The two storage areas 20 are positioned side by side, left and 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.

[0021] The storage area 20 includes a feeding robot 21 that places the workpiece W on the pallet 60. The feeding robot 21 in the first storage area 20a is located on the left side of the extension line of the traveling path 16. The feeding robot 21 in the second storage area 20b is located on the right side of the extension line of the traveling path 16.

[0022] 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.

[0023] 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.

[0024] 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. After the workpiece W is fed to the pallet 60 placed in the temporary placement area 23, the first transfer robot 11a transfers the pallet 60 together with the workpiece W from the temporary placement area 23. The temporary placement area 23 can be constituted by, for example, a table.

[0025] 〔Working Area〕 As shown in FIG. 1, four work areas 30 are arranged around the traveling 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 as long as there are two or more.

[0026] The work areas 30 are located on the left and right sides with the traveling path 16 in between. On the left side of the traveling path 16, two work areas 30 are arranged in the front-rear direction. Similarly, on the right side of the traveling 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 it is not necessary to distinguish the four work areas 30, they are simply referred to as the work area 30.

[0027] The first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d are each independent. 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 in the front-rear direction without passing through a conveyance path and a mechanism for conveying the workpiece W such as a conveyance robot 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 in the front-rear direction without passing through a conveyance path and a means for conveying the workpiece W such as a conveyance robot between the second work area 30b and the fourth work area 30d.

[0028] The work area 30 includes two holding robots 31. The holding robot 31 is a vertically articulated robot having a plurality of arms and a plurality of joints. The holding robot 31 has the same configuration as the transfer robot 11. 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. Also, the holding robot 31 may be capable of traveling without being fixed. As shown in FIG. 2, 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 work facility 2.

[0029] As shown in FIG. 1, the work area 30 includes two work robots 32. The work robot 32 is a vertically articulated robot having a plurality of arms and a plurality of joints. The work robot 32 is fixed to the floor surface. Note that the work robot 32 may be fixed to the ceiling surface or the wall in addition to being fixed to the floor surface. Also, the work robot 32 may be capable of traveling without being fixed. The work robot 32 has a work tool at its tip. The work tool is a hand, a welding gun, or the like. The work robot 32 performs work on the workpiece W held by the holding robot 31. Specifically, the work robot 32 assembles the workpieces W together or welds the workpiece W. The work robot 32 is located at a position farther from the travel path 16 than the holding robot 31. The two work robots 32 are arranged side by side in the front-rear direction.

[0030] 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 work robots 32 may have the same configuration or different configurations. The work tools of the work robots 32 may be different for each area. Also, the number of work robots 32 in one work area 30 is not limited to a specific number.

[0031] 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.

[0032] 〔Unloading Area〕 As shown in FIG. 1, the unloading area 40 is arranged at the position of the end (rear end) on the opposite side of the storage area 20 side 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.

[0033] The unloading area 40 includes an unloading path 41. The unloading path 41 unloads the workpiece W.

[0034] The unloading area 40 has a pallet area 42 for storing the empty pallet 60. After 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.

[0035] 〔Pallet〕 The pallet 60 is a member for conveying the workpiece W. The pallet 60 is not an essential element of the working facility 2.

[0036] As shown in FIG. 3, 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 has a first connector 611 and a second connector 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 elongated main body 600 from the first end. The first connector 611 and the second connector 612 face upward.

[0037] The first connector 611 and the second connector 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, 612 in the vertical direction. The connectors 611, 612 and the tool changers 15, 31a can be diverted from general-purpose connectors and tool changers. The pallet 60 is provided with a first region R1 for arranging the object M to which the part P of the workpiece W is to be attached and a second region R2 for arranging the part P of the workpiece W. The pallet 60 in the illustrated example is supported by the transfer robot 11 or the holding robot 31 in a posture in which the main body 600 extends in the horizontal direction, as will be described later. The first region R1 and the second region R2 are for arranging 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.

[0038] When the tool changer 15 of the transfer robot 11 is coupled to the first connector 611 or the second connector 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 arranged on the pallet 60 is conveyed together with the pallet 60. When the tool changer 15 of the transfer robot 11 releases the coupling with the first connector 611 or the second connector 612, the coupling between the pallet 60 and the transfer robot 11 is released.

[0039] As shown in Fig. 4, when the pallet 60 is transferred 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 coupling 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 the pallet 60 is transferred from the holding robot 31 to the transfer robot 11, the holding robot 31 releases the coupling with the second connector 612, contrary to the above. When the pallet 60 is transferred between the first transfer robot 11a and the second transfer robot 11b, the first transfer robot 11a and the second transfer robot 11b perform the same operations as described above.

[0040] In the work area 30, when two holding robots 31 hold the workpiece W, 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 with the pallet 60.

[0041] In the work area 30, when two holding robots 31 hold the pallet 60, the pallet 60 itself serves as a workbench. The work robot 32 performs work on the workpiece W using the pallet 60 as a workbench. While the work robot 32 shown virtually in Fig. 4 is performing work on the workpiece W, the two holding robots 31 support the pallet 60 holding the workpiece W. After the parts P in the second region R2 are assembled to the object M in the first region R1 by the work robot 32, the pallet 60 holds the object M with the parts P assembled thereto in the first region R1.

[0042] 〔Control of the Transfer System〕 FIG. 5 is a block diagram showing the control relationship of the transport system 1. The transport system 1 includes a system controller 70. The system controller 70 controls the entire work facility 2.

[0043] The transport system 1 includes a transport robot controller 71. The transport robot controller 71 is electrically connected to the system controller 70. The electrical connection includes a wired or wireless connection. The transport robot controller 71 is also electrically connected to the transport robot 11. The transport robot controller 71 and the transport robot 11 are connected one-to-one. In FIG. 5, only one transport robot controller 71 is shown, but the transport system 1 includes a transport robot controller 71 for the first transport robot 11a and a transport robot controller 71 for the second transport robot 11b.

[0044] The transport robot controller 71 controls the transport robot 11. More specifically, the transport robot controller 71 receives a control signal from the system controller 70 and outputs a control signal to the transport robot 11. The transport robot 11 receives a control signal from the transport robot controller 71 and transports the pallet 60 and the workpiece W.

[0045] The transport system 1 includes a feeding robot controller 72. Note that the feeding robot controller 72 is not an essential element of the transport system 1. The feeding robot controller 72 is electrically connected to the system controller 70. The electrical connection includes a wired or wireless connection. The feeding robot controller 72 is also electrically connected to the feeding robot 21. The feeding robot controller 72 and the feeding robot 21 are connected one-to-one. In FIG. 5, only one feeding robot controller 72 is shown, but the transport system 1 includes the same number (here, two) of feeding robot controllers 72 as the feeding robots 21.

[0046] The meal preparation robot controller 72 controls the meal preparation robot 21. More specifically, the meal preparation robot controller 72 receives a control signal from the system controller 70 and outputs a control signal to the meal preparation robot 21. The meal preparation robot 21 receives a control signal from the meal preparation robot controller 72, picks up the workpiece W from the shelf 22, and distributes it to the pallet 60.

[0047] The transfer system 1 includes a holding robot controller 73. Note that the holding robot controller 73 is not an essential element of the transfer system 1. The holding robot controller 73 is electrically connected to the system controller 70. The electrical connection includes a wired or wireless connection. 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. 5, only one holding robot controller 73 is shown, but the transfer system 1 includes the same number (here, eight) of holding robot controllers 73 as the holding robots 31.

[0048] The holding robot controller 73 controls the holding robot 31. More specifically, the holding robot controller 73 receives a control signal from the system controller 70 and outputs a 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.

[0049] The transfer system 1 includes a work robot controller 74. Note that the work robot controller 74 is not an essential element of the transfer system 1. The work robot controller 74 is electrically connected to the system 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. 5, only one work robot controller 74 is shown, but the transfer system 1 includes the same number (here, eight) of work robot controllers 74 as the work robots 32.

[0050] The work robot controller 74 controls the work robot 32. More specifically, the work robot controller 74 receives a control signal from the system controller 70 and outputs a control signal to the work robot 32. The work robot 32 performs work on the workpiece W upon receiving the control signal from the work robot controller 74.

[0051] The system controller 70 is electrically connected to the transfer path 41. The electrical connection includes a wired or wireless connection. The system controller 70 controls the transfer path 41. The transfer path 41 operates upon receiving the control signal from the system controller 70.

[0052] The transfer system 1 includes a sensor 75. The sensor 75 is electrically connected to the system 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.

[0053] 〔Transfer Route〕 Next, the conveyance routes of the workpiece W and the pallet 60 by the conveyance robot 11 will be described with reference to FIG. 6. In FIG. 6, the dashed arrows indicate the destinations of the empty pallets 60. In FIG. 6, the solid arrows indicate the destinations of the workpiece W, or more specifically, the destinations of the pallets 60 on which the workpiece W is placed.

[0054] The empty pallet 60 is received by the second conveyance robot 11b from the unloading area 40. The second conveyance robot 11b passes the empty pallet 60 to the first conveyance robot 11a. The first conveyance robot 11a places the empty pallet 60 on the temporary storage area 23.

[0055] The workpiece W is dispensed onto the pallet 60 in the temporary storage area 23 by the dispensing robot 21. The first conveyance robot 11a conveys the workpiece W between the temporary storage area 23, the first work area 30a, the second work area 30b, and the second conveyance robot 11b. The second conveyance robot 11b conveys the workpiece W between the first conveyance robot 11a, the third work area 30c, the fourth work area 30d, and the unloading area 40.

[0056] The conveyance route of the workpiece W from the temporary storage area 23 varies depending on the number of work processes. Hereinafter, the conveyance routes will be described for the cases where the number of work processes is 4, 3, 2, and 1, respectively. In the following description, it is assumed that the workpiece W is placed on the pallet 60. Also, "extending the arm 13" means rotating the arm 13 around the joint 14 and moving the tip away from the base 12.

[0057] 〈Case of 4 processes〉 As shown in FIG. 7, in the case of 4 processes, the conveyance route is a route that moves the workpiece W in the order of temporary storage area 23 → first work area 30a → second work area 30b → third work area 30c → fourth work area 30d → unloading area 40. In the case of 4 processes, the first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d perform different operations respectively.

[0058] After traveling towards the storage area 20, the first transfer robot 11a extends the arm 13 to the temporary storage area 23 and receives the workpiece W from the temporary storage area 23. After traveling to the position of the first working area 30a as needed, the first transfer robot 11a extends the arm 13 to the first working area 30a and passes the workpiece W to the holding robot 31.

[0059] After the work in the first working area 30a is completed, the first transfer robot 11a extends the arm 13 to the first working area 30a and receives the workpiece W from the holding robot 31. After turning horizontally towards the second working area 30b, the first transfer robot 11a extends the arm 13 to the second working area 30b and passes the workpiece W to the holding robot 31.

[0060] After the work in the second working area 30b is completed, the first transfer robot 11a extends the arm 13 to the second working area 30b and receives the workpiece W from the holding robot 31. After turning horizontally, the first transfer robot 11a passes the workpiece W to the second transfer robot 11b.

[0061] After traveling to the position of the third working area 30c as needed, the second transfer robot 11b extends the arm 13 to the third working area 30c and passes the workpiece W to the holding robot 31. Note that the first transfer robot 11a that has received the workpiece W from the holding robot 31 in the second working area 30b may pass the workpiece W to the holding robot 31 in the third working area 30c. Also, the second transfer robot 11b may receive the workpiece W from the holding robot 31 in the second working area 30b and pass the workpiece W to the holding robot 31 in the third working area 30c.

[0062] After the operation in the third work area 30c is completed, the second transfer robot 11b extends the arm 13 into the third work area 30c and receives the workpiece W from the holding robot 31. After horizontally turning toward the fourth work area 30d, the second transfer robot 11b extends the arm 13 into the fourth work area 30d and delivers the workpiece W to the holding robot 31.

[0063] After the operation in the fourth work area 30d is completed, the second transfer robot 11b extends the arm 13 into the fourth work area 30d and receives the workpiece W from the holding robot 31. After traveling toward the unloading area 40, the second transfer robot 11b extends the arm 13 into the unloading path 41 and unloads the workpiece W. After the unloading of the workpiece W is completed, the second transfer robot 11b places the empty pallet 60 in the pallet area 42. Further, the second transfer robot 11b returns the empty pallet 60 to the storage area 20 through the first transfer robot 11a.

[0064] The transfer robot 11 repeats the above-described operations. In practice, after transporting the workpiece W from the first work area 30a to the second work area 30b, the transfer robot 11 transports a new workpiece W from the storage area 20 to the first work area 30a.

[0065] <In the case of three processes> FIG. 8 shows an example of a transfer route in the case of three processes. As shown in FIG. 8, in the case of three processes, the transfer route is a route that moves the workpiece W in the order of the temporary storage place 23 → the first work area 30a → the second work area 30b → the third work area 30c → the unloading area 40, or the temporary storage place 23 → the first work area 30a → the second work area 30b → the fourth work area 30d → the unloading area 40. The first work area 30a, the second work area 30b, and the third work area 30c perform different operations from each other. The third work area 30c and the fourth work area 30d perform the same operation.

[0066] After traveling toward the storage area 20, the first transfer robot 11a extends the arm 13 to the temporary storage area 23 and receives the workpiece W from the temporary storage area 23. After traveling to the position of the first working area 30a as necessary, the first transfer robot 11a extends the arm 13 to the first working area 30a and delivers the workpiece W to the holding robot 31.

[0067] After the work in the first working area 30a is completed, the first transfer robot 11a extends the arm 13 to the first working area 30a and receives the workpiece W from the holding robot 31. After turning horizontally toward the second working area 30b, the first transfer robot 11a extends the arm 13 to the second working area 30b and delivers the workpiece W to the holding robot 31.

[0068] After the work in the second working area 30b is completed, the first transfer robot 11a extends the arm 13 to the second working area 30b and receives the workpiece W from the holding robot 31. After turning horizontally, the first transfer robot 11a delivers the workpiece W to the second transfer robot 11b.

[0069] After traveling to the positions of the third working area 30c and the fourth working area 30d as necessary, the second transfer robot 11b extends the arm 13 to the third working area 30c or the fourth working area 30d and delivers the workpiece W to the holding robot 31 in any of the working areas 30. The second transfer robot 11b delivers the workpiece W to the holding robot 31 in the working area 30 that has not been worked on among the third working area 30c and the fourth working area 30d. Note that the first transfer robot 11a that has received the workpiece W from the holding robot 31 in the second working area 30b may deliver the workpiece W to the holding robot 31 in the third working area 30c or the fourth working area 30d. Also, the second transfer robot 11b may receive the workpiece W from the holding robot 31 in the second working area 30b and deliver the workpiece W to the holding robot 31 in the third working area 30c or the fourth working area 30d.

[0070] After the work in the third work area 30c or the fourth work area 30d is completed, the second transfer robot 11b extends the arm 13 to the third work area 30c or the fourth work area 30d and receives the workpiece W from the holding robot 31. After traveling toward the unloading area 40, the second transfer robot 11b extends the arm 13 to the transfer path 41 and unloads the workpiece W. After unloading the workpiece W is completed, the second transfer robot 11b places the empty pallet 60 in the pallet area 42. Further, the second transfer robot 11b returns the empty pallet 60 to the storage area 20 through the first transfer robot 11a.

[0071] The transfer robot 11 repeats the above-described operations. In practice, after transporting the workpiece W from the first work area 30a to the second work area 30b, the transfer robot 11 transports a new workpiece W from the storage area 20 to the first work area 30a.

[0072] Note that in the case of three processes, the transfer route may be a route that moves the workpiece W in the order of the temporary storage place 23 → the first work area 30a → the third work area 30c → the fourth work area 30d → the unloading area 40, or the temporary storage place 23 → the second work area 30b → the third work area 30c → the fourth work area 30d → the unloading area 40.

[0073] <In the case of two processes> FIG. 9 shows an example of a transfer route in the case of two processes. As shown in FIG. 9, in the case of two processes, the workpiece W is transported by two transfer routes. One route is a route that moves in the order of the temporary storage place 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 place 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.

[0074] After traveling toward the storage area 20, the first transfer robot 11a extends the arm 13 to the temporary storage area 23 and receives the workpiece W from the temporary storage area 23. After traveling to the position of the first work area 30a as needed, the first transfer robot 11a extends the arm 13 to the first work area 30a and passes the workpiece W to the holding robot 31. The first transfer robot 11a also passes the workpiece W to the holding robot 31 in the second work area 30b in the same manner as described above.

[0075] After the work in the first work area 30a is completed, the first transfer robot 11a extends the arm 13 to the first work area 30a and receives the workpiece W from the holding robot 31. After turning horizontally, the first transfer robot 11a passes the workpiece W to the second transfer robot 11b. After traveling to the position of the third work area 30c as needed, the second transfer robot 11b extends the arm 13 to the third work area 30c and passes the workpiece W to the holding robot 31. The first transfer robot 11a also, after the work in the second work area 30b is completed, receives the workpiece W from the holding robot 31 in the second work area 30b in the same manner as described above and passes the workpiece W to the second transfer robot 11b. The second transfer robot 11b also passes the workpiece W to the holding robot 31 in the fourth work area 30d in the same manner as described above. Note that the first transfer robot 11a that has received the workpiece W from the holding robot 31 in the first work area 30a may pass the workpiece W to the holding robot 31 in the third work area 30c. Also, the first transfer robot 11a that has received the workpiece W from the holding robot 31 in the second work area 30b may pass the pallet 60 to the holding robot 31 in the fourth work area 30d. Further, the second transfer robot 11b may receive the workpiece W from the holding robot 31 in the first work area 30a and pass the workpiece W to the holding robot 31 in the third work area 30c. The second transfer robot 11b may receive the workpiece W from the holding robot 31 in the second work area 30b and pass the workpiece W to the holding robot 31 in the fourth work area 30d.

[0076] After the work in the third work area 30c is completed, the second transfer robot 11b extends the arm 13 to the third work area 30c and receives the workpiece W from the holding robot 31. After traveling toward the unloading area 40, the second transfer robot 11b extends the arm 13 to the transfer path 41 and unloads the workpiece W. After the unloading of the workpiece W is completed, the second transfer robot 11b places the empty pallet 60 in the pallet area 42. The second transfer robot 11b also receives the workpiece W from the holding robot 31 in the fourth work area 30d and unloads the workpiece W in the same manner as described above after the work in the fourth work area 30d is completed. Further, the second transfer robot 11b returns the empty pallet 60 to the storage area 20 through the first transfer robot 11a.

[0077] The transfer robot 11 repeats the above-described operations. In practice, after transporting the workpiece W from the first work area 30a to the third work area 30c, the transfer robot 11 transports a new workpiece W from the storage area 20 to the first work area 30a. The transfer robot 11 similarly transports a new workpiece W to the second work area 30b.

[0078] 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.

[0079] Note that 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 workpiece W whose work in the first work area 30a is completed to the holding robot 31 in the fourth work area 30d, or may transfer the workpiece W whose work in the second work area 30b is completed to the holding robot 31 in the third work area 30c.

[0080] <In the case of one process> FIG. 10 shows an example of a transport route in the case of one process. As shown in FIG. 10, in the case of one process, the workpiece W is transported through four transport routes. Each route is a route for moving 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.

[0081] After traveling toward the storage area 20, the first transfer robot 11a extends the arm 13 to the temporary storage area 23 and receives the workpiece W from the temporary storage area 23. After traveling to the position of the first work area 30a as needed, the first transfer robot 11a extends the arm 13 to the first work area 30a and delivers the workpiece W to the holding robot 31. The first transfer robot 11a also delivers the workpiece W to the holding robot 31 in the second work area 30b in the same manner as described above.

[0082] The first transfer robot 11a also receives the workpiece W from the temporary storage area 23 in the same manner as described above and delivers it to the second transfer robot 11b. After traveling to the position of the third work area 30c as needed, the second transfer robot 11b extends the arm 13 to the third work area 30c and delivers the workpiece W to the holding robot 31. The first transfer robot 11a and the second transfer robot 11b also deliver the workpiece W to the holding robot 31 in the fourth work area 30d in the same manner as described above. Note that the first transfer robot 11a may directly deliver the workpiece W to the holding robot 31 in the third work area 30c or the fourth work area 30d.

[0083] After the operation in the first work area 30a is completed, the first transfer robot 11a extends the arm 13 into the first work area 30a to receive the workpiece W from the holding robot 31. After the first transfer robot 11a rotates horizontally, it passes the workpiece W to the second transfer robot 11b. After traveling toward the unloading area 40, the second transfer robot 11b extends the arm 13 into the unloading path 41 to unload the workpiece W. After the unloading of the workpiece W is completed, the second transfer robot 11b places the empty pallet 60 in the pallet area 42. Alternatively, the second transfer robot 11b returns the empty pallet 60 to the storage area 20 through the first transfer robot 11a. After the operation in the second work area 30b is completed, the first transfer robot 11a and the second transfer robot 11b receive the workpiece W from the holding robot 31 in the second work area 30b and unload the workpiece W in the same manner as described above. Note that the second transfer robot 11b 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.

[0084] After the operation in the third work area 30c is completed, the second transfer robot 11b extends the arm 13 into the third work area 30c to receive the workpiece W from the holding robot 31. After traveling toward the unloading area 40, the second transfer robot 11b extends the arm 13 into the unloading path 41 to unload the workpiece W. After the unloading of the workpiece W is completed, the second transfer robot 11b places the empty pallet 60 in the pallet area 42. Also, the second transfer robot 11b returns the empty pallet 60 to the storage area 20 through the first transfer robot 11a. After the operation in the fourth work area 30d is completed, the second transfer robot 11b receives the workpiece W from the holding robot 31 in the fourth work area 30d and unloads the workpiece W in the same manner as described above.

[0085] The transfer robot 11 repeats the above-described operations. In practice, after the transfer robot 11 carries out the workpiece W from the first work area 30a, it transfers a new workpiece W from the storage area 20 to the first work area 30a. The transfer robot 11 similarly transfers a new workpiece W to the second work area 30b, the third work area 30c, and the fourth work area 30d.

[0086] In the case of one process, by dividing the transfer route into four as described above, the same operations can be carried out simultaneously in four.

[0087] 〔Effects of the Embodiment〕 The transfer system 1 can transfer the workpiece W from the storage area 20 to the work area 30 and between the work areas 30 by the common transfer robot 11. Since the transfer system 1 can reduce the number of transfer robots 11, the system can be miniaturized.

[0088] The transfer robot controller 71 controls the transfer robot 11 to transfer the workpiece W to the unloading area 40 using the travel path 16. The transfer system 1 can be carried out by the common transfer robot 11 until the unloading of the workpiece W. Since the transfer system 1 can reduce the number of transfer robots 11, the system can be miniaturized.

[0089] The transfer system 1 further includes a pallet 60 on which the workpiece W is placed. The transfer robot controller 71 controls the transfer robot 11 to transfer the empty pallet 60 to the storage area 20. Since the transfer system 1 can have the transfer robot 11 carry out the transfer of the empty pallet 60, there is no need to separately provide a transfer mechanism for the pallet 60. The transfer system 1 can miniaturize the system.

[0090] The empty pallet 60 is stored in the unloading area 40, and the conveyance robot controller 71 controls the conveyance robot 11 to convey the empty pallet 60 from the unloading area 40 to the storage area 20. By storing the empty pallet 60 in the unloading area 40, the conveyance system 1 does not need to separately provide an area for storing the pallet 60. Since the conveyance system 1 can simplify the configuration of the travel path 16, the system can be miniaturized. Also, after the unloading of the workpiece W is completed, the movement of the conveyance robot 11 until the empty pallet 60 is stored can be reduced, so that the conveyance efficiency can be improved.

[0091] The work facility 2 has the first work area 30a and the third work area 30c, and the second work area 30b and the fourth work area 30d are adjacently arranged along the travel path 16 without passing through a mechanism for conveying the workpiece W. Since the work areas 30 can be brought as close as possible to each other in the front-rear direction, the conveyance system 1 can make the travel path 16 as short as possible, and the system can be miniaturized.

[0092] In the work area 30, the pallet 60 held by the holding robot 31 is used as a workbench to perform work on the workpiece W. Since there is no need to separately arrange a workbench in the work area 30, the work area 30 can be made compact. Since the conveyance system 1 can make the travel path 16 as short as possible, the system can be miniaturized.

[0093] In the conveyance system 1, the first conveyance robot 11a and the second conveyance robot 11b are arranged on the same travel path 16. Even when a plurality of conveyance robots 11 are provided, since they are arranged on the common travel path 16, an increase in the conveyance area 10 can be suppressed. The conveyance system 1 can miniaturize the system while improving the conveyance efficiency.

[0094] [Modification Example 1 of the Embodiment] FIG. 12 shows Modification Example 1 of the conveying system 1. In Modification Example 1, two work areas 30 are arranged. The two work areas 30 are arranged along the traveling path 16.

[0095] In Modification Example 1, only one storage area 20 is provided. The storage area 20 is arranged at the front end position of the traveling path 16.

[0096] As shown in FIG. 11, the conveying system 1 of Modification Example 1 can be arranged even in an area where it is difficult to arrange a plurality of work areas 30, such as an area along the wall of the factory, on both sides of the traveling path 16. The degree of freedom in the layout of the conveying system 1 can be improved.

[0097] 〔Modification Example 2 of the Embodiment〕 FIG. 12 shows Modification Example 2 of the conveying system 1. The traveling path 16 of the conveying area 10 is L-shaped in plan view. In the example shown in FIG. 11, a part of the traveling path 16 extends in the front-rear direction, and the remaining part of the traveling path 16 extends in the left-right direction. The first conveying robot 11a is arranged on the said part of the traveling path 16, and the second conveying robot 11b is arranged on the said remaining part of the traveling path 16.

[0098] The storage area 20 is arranged at the front end position of the traveling path 16. The unloading area 40 is arranged at the right end of the traveling path 16.

[0099] Three work areas 30 are arranged. The three work areas 30 are arranged so as to sandwich the said part of the traveling path 16 in the left-right direction and sandwich the said remaining part of the traveling path 16 in the front-rear direction.

[0100] The conveying system 1 of the modification example can be arranged even in an area where it is difficult to arrange the conveying area 10, the storage area 20, and the unloading area 40 in a straight line, such as a corner area of the factory. The degree of freedom in the layout of the conveying system 1 can be improved.

[0101] 〔Other Modification Examples of the Embodiment〕 The conveying robot 11 may be configured to grip and convey the workpiece W by hand without using the pallet 60.

[0102] The transfer robot 11 may be configured to hold the workpiece W in the work area 30. In this case, the work area 30 may not have the holding robot 31.

[0103] The work area 30 may perform operations other than welding operations on the workpiece W and assembly operations between workpieces W. For example, the work area 30 may perform a packing operation on the workpiece W.

[0104] The functions of the elements disclosed in this specification can be executed using a circuit or processing circuit including a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a conventional circuit, and / or a combination thereof that is configured or programmed to execute the disclosed functions. Since the processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, unit, or means is hardware that executes the recited functions or hardware programmed to execute the recited functions. The hardware may be the hardware disclosed in this specification or other known hardware that is programmed or configured to execute the recited functions. When the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used in the configuration of the hardware and / or the processor.

[0105] (Aspect) The above-described embodiments are specific examples of the following aspects.

[0106] (Aspect 1) Disposed in a work facility (2) including a storage area (20) where a workpiece (W) is stored and a plurality of work areas (30) that perform operations on the workpiece (W), having an arm (13) that supports the workpiece (W), and a transfer robot (11) that transfers the workpiece (W). A storage area (20) and a plurality of work areas (30) are arranged around, a travel path (16) on which a transfer robot (11) travels, A robot controller (71) that receives a workpiece (W) from the storage area (20), uses the travel path (16) to transfer the workpiece (W) to the work area (30), and controls the transfer robot (11) to transfer the workpiece (W) between the plurality of work areas (30). A transfer system (1) comprising.

[0107] The transfer system (1) can transfer the workpiece (W) from the storage area (20) to the work area (30) and between the work areas (30) by a common transfer robot (11). Since the transfer system (1) can reduce the number of transfer robots (11), the system can be miniaturized.

[0108] (Aspect 2) The work facility (2) includes an unloading area (40) for unloading the workpiece (W) that has been completed in the work area (30), A transfer system (1) in which the robot controller (71) controls the transfer robot (11) to transfer the workpiece (W) to the unloading area (40) using the travel path (16).

[0109] The transfer system (1) can be performed by a common transfer robot (11) until the workpiece (W) is unloaded. The transfer system (1) can reduce the number of transfer robots (11) and miniaturize the system.

[0110] (Aspect 3) Further comprising a pallet (60) on which the workpiece (W) is placed, The storage area (20) is an area for dispensing the workpiece (W) onto the pallet (60), The transfer system (1) controls the transfer robot (11) such that the robot controller (71) supports the pallet (60) with the arm (13), transfers the workpiece (W) together with the pallet (60), and transfers the empty pallet (60) to the storage area (20).

[0111] Since the transfer robot (11) transfers the empty pallet (60) in the transfer system (1), there is no need to separately provide a transfer mechanism for the pallet (60). The transfer system (1) can reduce the size of the system.

[0112] (Aspect 4) The empty pallet (60) is stored in the unloading area (40). The transfer system (1) controls the transfer robot (11) such that the robot controller (71) transfers the empty pallet (60) from the unloading area (40) to the storage area (20).

[0113] By storing the empty pallet (60) in the unloading area (40), the transfer system (1) does not need to separately provide an area for storing the pallet (60). Since the transfer system (1) can simplify the configuration of the travel path (16), the size of the system can be reduced.

[0114] (Aspect 5) In the transfer system (1), at least two work areas (30) are arranged adjacent to each other along the travel path (16) without passing through a mechanism for transferring the workpiece (W).

[0115] The distance between the work areas (30) is made as short as possible in the direction along the travel path (16). The transfer system (1) can make the travel path (16) as short as possible, and the size of the system can be reduced.

Description of Reference Numerals

[0116] 1 Transfer system 2 Work equipment 11 Transfer robot 13 Arm 16 Travel path 20 Storage area 30 Working area 40 Loading area 60 Pallet W Workpiece

Claims

1. a transfer robot that is disposed in a work facility including a storage area in which workpieces are stored and a plurality of work areas in which work is performed on the workpieces, the transfer robot having an arm that supports the workpieces and that transfers the workpieces; a travel path around which the storage area and the plurality of work areas are arranged and on which the transport robot travels; a robot controller that controls the transport robot to receive the workpiece from the storage area, transport the workpiece to the working area using the travel path, and transport the workpiece between the plurality of working areas.

2. 2. The transport system according to claim 1, the work facility includes a carrying-out area for carrying out the workpiece after work in the work area is completed; The robot controller controls the transport robot to transport the workpiece to the unloading area using the travel path.

3. 3. The transport system according to claim 2, Further comprising a pallet on which the workpiece is placed; the storage area is an area where the workpieces are arranged on the pallets, The robot controller controls the transport robot to support the pallet with the arm, transport the workpiece together with the pallet, and transport the empty pallet to the storage area.

4. 4. The transport system according to claim 3, The empty pallets are stored in the discharge area; The robot controller controls the transport robot to transport the empty pallet from the unloading area to the storage area.

5. The transport system according to any one of claims 1 to 4, A transport system in which at least two of the work areas are arranged adjacent to each other along the travel path without a mechanism for transporting the workpieces.

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