Robot system

Abstract

To continue work by a robot system efficiently.SOLUTION: A robot system 1 comprises: a robot 2 that performs work on a body 11 transported to a work area 13; an AMR 6 that transports the body 11, the AMR 6 configured to stop in the work area 13 during work by the robot 2; and a power supply unit 8 located in the work area 13, the power supply unit 8 configured to supply power to the AMR 6 in parallel with the work performed by the robot 2.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] Patent Document 1 discloses an assembly line for a vehicle body. The assembly line disclosed in Patent Document 1 includes a multi-axis welding robot, an assembly area, and an AGV. The multi-axis welding robot welds the underbody to the left and right side members. The multi-axis welding robot is installed in the assembly area. The AGV carries the underbody into the assembly area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6887738 Summary of the Invention [Problem to be solved by the invention]

[0004] When using a transport vehicle such as the AGV disclosed in Patent Document 1, it is conceivable to use a charging station to power the transport vehicle. When using a charging station, the transport vehicle must move to the charging station between operations by a welding multi-axis robot or the like. However, moving the transport vehicle to the charging station each time is inconvenient for efficient work. More generally, the same inconvenience occurs when stopping the transport vehicle only to charge. [Means for solving the problem]

[0005] The technology disclosed herein relates to a robot system including a robot that performs work on a workpiece transported to a work area, a transport vehicle that transports the workpiece and stops in the work area while the robot is working, and a power supply unit located in the work area that supplies power to the transport vehicle in parallel with the work by the robot. [Effects of the Invention]

[0006] The robot system allows work to be carried out efficiently. [Brief explanation of the drawings]

[0007] [Figure 1] Figure 1 shows a robot system applied to an automobile manufacturing line. [Figure 2] Figure 2 shows the robot system. [Figure 3] FIG. 3 is a block diagram of the robot system. [Figure 4] FIG. 4 is a block diagram of an autonomous mobile robot (AMR). [Figure 5] FIG. 5 is a plan view illustrating an example of the transport path of the AMR. [Figure 6] FIG. 6 is a schematic diagram of a locator with a power feed. [Figure 7] FIG. 7 illustrates an example layout of the power supply section. [Figure 8] FIG. 8 is a flowchart illustrating a process related to the power supply unit. [Figure 9] FIG. 9 is a diagram corresponding to FIG. 7 and shows a modified example of the robot system. [Figure 10] FIG. 10 is a diagram corresponding to FIG. 4 and showing an AMR according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the robot system will be described. The following embodiment is an example.

[0009] <Overall structure of the robot system> Fig. 1 is a perspective view of the robot system 1 seen from diagonally above. Fig. 2 is a rear view of the robot system 1 seen from behind. The robot system 1 is applied to a production line 10 in an automobile factory. In the illustrated production line 10, welding, more specifically spot welding, is performed on an automobile body 11.

[0010] The front Fr, rear Rr, right Rt, left Lt, up Up, and down Lw of the robot system 1 are defined as follows, with the body 11 that is the work target of the robot system 1 as the reference.

[0011] The front Fr of the robot system 1 is the left rear side in the direction connecting the right front and left rear of the paper in FIG. 1. The front Fr of the robot system 1 corresponds to the front of the automobile body 11. The rear Rr of the robot system 1 corresponds to the rear of the automobile body 11. As will be described later, the front-to-rear direction corresponds to the conveyance direction of the body 11.

[0012] The right side Rt of the robot system 1 is the far right side in the direction connecting the front left and rear right of the paper in FIG. 1. The right side Rt of the robot system 1 corresponds to the right side of the automobile body 11. The left side Lt of the robot system 1 corresponds to the left side of the automobile body 11. The left-right direction is a direction that is horizontally perpendicular to the front-rear direction.

[0013] The above definitions are used to explain the robot system 1, and are not used to limit the structure or configuration of the robot system 1 and the elements included in the robot system 1 disclosed herein.

[0014] The robot system 1 includes a robot 2. The robot 2 performs work on a workpiece transported to a work area 13. The work area 13 is located on the transport path L1 of the AMR 6, which will be described later, and refers to an area where the workpiece transported by the AMR 6 stays to be worked on by the robot 2. The workpiece of the robot 2 is a body 11. The work that the robot 2 performs on the body 11 is welding.

[0015] The robot 2 is a vertical articulated robot having five to seven axes. As shown in Fig. 2, the robot 2 has a welding gun 21 as an end effector. However, the robot 2 is not limited to a vertical articulated robot.

[0016] The robot system 1 includes a plurality of robots 2. The robot system 1 shown in the figure includes 12 robots 2. The 12 robots 2 are located on either side of the body 11. The six robots 2 located on the right side of the body 11 are lined up in the front-to-rear direction of the body 11. Similarly, the six robots 2 located on the left side of the body 11 are lined up in the front-to-rear direction of the body 11. Each robot 2 performs welding at a different location on the body 11. The number of robots 2 in the robot system 1 is not limited to a specific number. Furthermore, the arrangement of the robots 2 in the robot system 1 is not limited to a specific arrangement.

[0017] The robot system 1 includes a locator 4. The locator 4 is located in a work area 13. As shown by a dashed line in FIG. 2 , the locator 4 aligns the body 11 when the robot 2 performs work. In detail, the locator 4 aligns the body 11 while lifting and supporting the body 11 when the robot 2 performs work. Further details of the locator 4 will be described later.

[0018] The robot system 1 is equipped with multiple locators 4. The robot system 1 shown in the figure is equipped with eight locators 4. The eight locators 4 are positioned four on each side of the body 11. Each of the eight locators 4 has an arm 41 that supports the body 11 from below.

[0019] Specifically, the four locators 4 located on the right side of the body 11 are lined up in the front-to-rear direction of the body 11. As shown in FIG. 1, one of the four locators 4 supports the right front end of the body 11, and another of the four locators 4 supports the right rear end of the body 11. The remaining two of the four locators 4 support the right center portion of the body 11. Hereinafter, the four locators 4 located on the right side of the body 11 may be referred to as the first locator 4a, the second locator 4b, the third locator 4c, and the fourth locator 4d, in order from the front.

[0020] Similarly, the four locators 4 located on the left side of the body 11 are aligned in the front-to-rear direction of the body 11. As shown in FIG. 1 , one of the four locators 4 supports the left front end of the body 11, and another of the four locators 4 supports the left rear end of the body 11. The remaining two of the four locators 4 support the left center portion of the body 11. Hereinafter, the four locators 4 located on the left side of the body 11 may be referred to as the fifth locator 4e, the sixth locator 4f, the seventh locator 4g, and the eighth locator 4h, in order from the front.

[0021] The fifth locator 4e, the sixth locator 4f, the seventh locator 4g, and the eighth locator 4h are positioned so as to be mirror-symmetrical with respect to the first locator 4a, the second locator 4b, the third locator 4c, and the fourth locator 4d with respect to an axis of symmetry extending in the front-to-rear direction.

[0022] One of the eight locators 4, for example, the third locator 4c located in the center on the right side, is equipped with a power supply unit 8, which will be described later. The other seven locators 4 have different locations but have the same structure and configuration.

[0023] The robot system 1 includes one or more transport vehicles. The transport vehicles transport the body 11 to a work area 13. The transport vehicles stop in the work area 13 while the robot 2 is working.

[0024] The transport vehicle is, for example, an autonomous transport robot (AMR) 6. The AMR 6 travels on a flat floor in a factory. As illustrated in FIG. 2, the body 11 is placed on a carriage 14. The AMR 6 is positioned below the carriage 14 and engages with the carriage 14. The AMR 6 transports the body 11 via the carriage 14. Note that the AMR 6 may also directly support the body 11 without using the carriage 14. Note that the appearance of the AMR 6 shown in FIG. 1 or 2 is an example. Details of the AMR 6 will be described later.

[0025] 1, the second locator 4b and the third locator 4c are located to the right of the AMR 6 stopped in the work area 13. The arm 41 of the locator 4 located to the right of the AMR 6 moves toward the side of the AMR 6, specifically toward the right side, when positioning the body 11.

[0026] Similarly, a sixth locator 4f and a seventh locator 4g are located to the left of the AMR 6 stopped in the work area 13. The arm 41 of the locator 4 located to the left of the AMR 6 moves toward at least the side of the AMR 6, specifically the left side, when positioning the body 11.

[0027] 3 is a block diagram of the robot system 1. The robot system 1 includes a system controller 16. However, the system controller 16 is not an essential element of the robot system 1. The system controller 16 controls the entire robot system 1.

[0028] The robot system 1 includes a robot controller 17. Note that the robot controller 17 is not an essential element of the robot system 1. The robot controller 17 is electrically connected to the system controller 16. The electrical connection includes a wired or wireless connection. The robot controller 17 is also electrically connected to the robot 2. The robot controller 17 and the robot 2 are connected in a one-to-one relationship. The robot controller 17 is also electrically connected to the locator 4. The robot controller 17 and the locator 4 are connected in a one-to-one relationship. The robot system 1 includes the same number of robot controllers 17 as the total number of robots 2 and locators 4.

[0029] The robot controller 17 controls the robot 2. More specifically, the robot controller 17 receives a control signal from the system controller 16 and outputs a control signal to the robot 2. The robot 2 receives the control signal from the robot controller 17 and performs, for example, welding on the body 11.

[0030] Robot controller 17 controls locator 4. More specifically, robot controller 17 receives a control signal from system controller 16 and outputs a control signal to locator 4. Locator 4 receives the control signal from robot controller 17 and positions and supports body 11, which has been handed over from AMR 6, at a predetermined position.

[0031] The robot system 1 includes a sensor 19. The sensor 19 is electrically connected to the system controller 16 and the robot controller 17. The sensor 19 includes an external camera 191, which will be described later.

[0032] As illustrated in FIG. 2, the external camera 191 is located above the work area 13. The external camera 191 captures an image of the body 11 located in the work area 13 from above. The external camera 191 sends the captured image to the system controller 16. The system controller 16 determines the magnitude of the inclination of the body 11 in the horizontal plane based on the captured image of the external camera 191.

[0033] Note that the external camera 191 may send the captured image directly to the robot controller 17 without going through the system controller 16. The robot controller 17 to which the captured image is sent determines the magnitude of the inclination of the body 11 in the horizontal plane based on the captured image of the external camera 191.

[0034] The robot system 1 includes an AMR control panel 18. Note that the AMR control panel 18 is not an essential element of the robot system 1. The AMR control panel 18 is electrically connected to the system controller 16. The electrical connection includes a wired or wireless connection. The AMR control panel 18 is also electrically connected to one or more AMRs ⑥. The AMR control panel 18 is electrically connected to the power supply unit 8.

[0035] The AMR control panel 18 controls the AMR ⑥. More specifically, the AMR control panel 18 receives a control signal from the system controller 16 and outputs a control signal to the AMR ⑥. The AMR ⑥ receives the control signal from the AMR control panel 18 and, for example, performs the conveyance of the body 11.

[0036] The AMR control panel ① controls the power supply unit 8. More specifically, the AMR control panel 18 receives a control signal from the system controller 16 and outputs a control signal to the power supply unit 8. The power supply unit 8 receives the control signal from the AMR control panel 18 and, for example, performs the power supply to the AMR ⑥. [[ID=1,8]]

[0037] <AMRの構造> FIG. 4 illustrates the structure of the AMR ⑥. FIG. 4 is only an example of the AMR ⑥.

[0038] The AMR 6 includes a plurality of wheels that roll on the floor surface, a motor 63, a steering mechanism 64, a scanner 65, a storage 66, a communication circuit 67, a rotary table 68, an AMR controller 69, a battery 610, and a power receiving unit 612. The plurality of wheels include two drive wheels 61 and two steering wheels 62.

[0039] The two drive wheels 61 are located on the same rotation axis extending in the left-right direction. The drive wheels 61 are, for example, rear wheels. The drive wheels 61 may also be front wheels. The drive wheels 61 are mechanically connected to a motor 63.

[0040] The motor 63 is a driving source for the AMR 6. The motor 63 is driven by power supplied from a battery 610 via an AMR controller 69, for example. The driving force of the motor 63 is transmitted to the drive wheels 61, causing the drive wheels 61 to rotate. As shown by the arrow in FIG. 4, the rotation of the drive wheels 61 causes the AMR 6 to move.

[0041] The two steering wheels 62 are, for example, passive wheels. The steering wheels 62 are located on the opposite side of the AMR 6 from the drive wheels 61 in the longitudinal direction. The two steering wheels 62 are located on the same rotation axis extending in the left-right direction. The steering wheels 62 are mechanically connected to a steering mechanism 64.

[0042] The steering mechanism 64 changes the direction of the steering wheels 62 as shown by the arrows in Figure 4. Changing the direction of the steering wheels 62 changes the traveling direction of the AMR 6. Note that the number of steering wheels 62 may be one.

[0043] The scanner 65 acquires information about the surroundings of the AMR 6. The scanner 65 includes, for example, a LiDAR (Light Detection and Ranging). The scanner 65 is not limited to a LiDAR.

[0044] The storage 66 stores various data. The data stored in the storage 66 includes map data 661. The map data 661 is map data of the inside of a factory including the production line 10. Before transporting the body 11, the AMR 6 autonomously travels within the factory in advance and creates the map data 661 using the scanner 65 while traveling. Note that the AMR 6 may obtain the previously created map data 661 from an external source.

[0045] The communication circuit 67 performs wireless communication with the system controller 16. The communication circuit 67 transmits, for example, position information of the AMR 6 to the system controller 16.

[0046] The rotary table 68 is located on the upper surface of the AMR 6. The rotary table 68 rotates clockwise and counterclockwise around a vertical axis on the upper surface of the AMR 6. The rotary table 68 rotates relative to the main body of the AMR 6. When the rotary table 68 rotates, the body 11 rotates around the vertical axis via the carriage 14. The body 11 rotates in place without moving forward / backward or left / right.

[0047] The battery 610 supplies power to the motor 63. The AMR 5 is equipped with the battery 610. The charging state of the battery 610 is detected by a charging sensor 611. A detection signal of the charging sensor 611 is input to the AMR controller 69.

[0048] The power receiving unit 612 receives power from the power supply unit 8. More specifically, the power receiving unit 612 receives power wirelessly from the power supply unit 8 or a charging station 100 (described later). The power received by the power receiving unit 612 is supplied to the battery 610. The battery 610 is charged by the power supplied from the power receiving unit 612. The power receiving unit 612 is, for example, an electrode located at the rear of the right side of the AMR 6. The power receiving unit 612 is exposed to the outside of the AMR 6.

[0049] The AMR controller 69 controls the AMR 6. The AMR controller 69 is electrically connected to the motor 63, the steering mechanism 64, the scanner 65, the storage 66, the communication circuit 67, the rotary table 68, the battery 610, and the charge sensor 611.

[0050] During the creation of the map data 661, the AMR controller 69 creates the map data 661 based on the signal from the scanner 65 while outputting control signals to the motor 63 and the steering mechanism 64 to move the AMR 6. The AMR controller 69 stores the created map data 661 in the storage 66.

[0051] The AMR controller 69 receives, via the communication circuit 67, control signals transmitted from the system controller 16 via the AMR control panel 18. The AMR controller 69 causes the AMR 6 to perform an operation in accordance with the control signal received via the communication circuit 67. The AMR 6 travels to a position specified by the system controller 16, that is, to the work area 13 of the robot 2. When the AMR 6 travels, the AMR controller 69 sets a transfer path L1 for the AMR 6 based on map data 661. While the AMR 6 is traveling, the AMR controller 69 determines the self-position of the AMR 6 based on the signal from the scanner 65 and the map data 661. The AMR 6 autonomously travels to the specified position along the transfer path L1, and the body 11 is transferred to the work area 13.

[0052] Figure 5 illustrates an example of a transport route L1 for an AMR 6. The AMR 6 travels around the factory along the transport route L1 in Figure 5. When multiple AMRs 6 are used, the transport route L1 traveled by each AMR 6 is the same for all of them. Figure 5 illustrates six AMRs 6.

[0053] One or more work areas 13 are defined along the transfer path L1. FIG. 5 shows four work areas 13 as an example. In each work area 13, one or more robots 2 and, if necessary, one or more locators 4 are located. In FIG. 5, four robots 2 and four locators 4 are located in each of the four work areas 13.

[0054] By using multiple work areas 13, different work can be performed in each work area 13. By using multiple work areas 13 in combination with multiple AMRs 6, work can also be performed on the bodies 11 mounted on the multiple AMRs 6 simultaneously.

[0055] 1 is located in one of the four work areas 13. The other work areas 13 may be located with a robot 2 having a welding gun 21 similar to that in FIG. 1, or may be located with a robot 2 suitable for another process. The other processes include loading the body 11 onto the AMR 6 or unloading the body 11 from the AMR 6.

[0056] The four work areas 13 are referred to as a first area 13A, a second area 13B, a third area 13C, and a fourth area 13D, in clockwise order from the bottom left of the page in Fig. 5. Each of the multiple AMRs 6 travels around the conveying path L1 along the arrow A1 in Fig. 5, passing through the first area 13A, the second area 13B, the third area 13C, and the fourth area 13D in order. For example, the fourth area 13D is a carry-out area where the body 11 is carried out from the AMR 6. In this embodiment, the body 11 is carried out from each AMR 6 at least once it has passed through the fourth area 13D.

[0057] In addition, a detour route L2 is connected to the transport route L1, through which the AMR 6 passes depending on its charging status. One or more charging stations 100 are located on the detour route L2. FIG. 5 illustrates multiple charging stations 100, particularly three charging stations 100. Each charging station 100 supplies power to the AMR 6 that stops on the detour route L2. More specifically, the detour route L2 according to this embodiment is connected between the fourth area 13D and the first area 13A. The multiple charging stations 100 are lined up along the traveling direction of the detour route L2.

[0058] Specifically, the AMR controller 69 determines the charging status of the AMR 6 from which the body 11 has been discharged, for example, the AMR 6 immediately after passing through the fourth area 13D. The AMR controller 69 determines the charging status based on the current position of the AMR 6 and the detection signal of the charging sensor 611. If the charge amount of the battery 610 is equal to or greater than a predetermined reference value, the AMR controller 69 causes the AMR 6 to proceed toward the first area 13A, as indicated by arrow A1.

[0059] On the other hand, if the charge level of the battery 610 is less than the reference value, the AMR controller 69 causes the AMR 6 to proceed along the detour L2, as shown by the arrow A2. The AMR 6 stops along the detour L2. The AMR 6 that has stopped along the detour L2 receives power from the charging station 100 via the power receiving unit 612.

[0060] When the charging station 100 is used, the AMR 6 as a transport vehicle moves to the charging station 100 between work tasks performed by the robot 2. However, moving the AMR 6 to the charging station 100 each time is inconvenient for efficient work progress. Similar inconveniences arise when power is supplied to the AMR 6 by means other than the charging station 100.

[0061] To efficiently carry out the work, the robot system 1 is provided with a power supply unit 8 located in the work area 13. The power supply unit 8 supplies power to the AMR 6 in parallel with the work by the robot 2. In other words, the robot system 1 supplies power to the AMR 6 via the power supply unit 8 while the robot 2 performs work on the body 11. By supplying power while work is being performed on the body 11, the work can be carried out efficiently. In particular, the power supply unit 8 according to this embodiment is located in the locator 4. The locator 4 where the power supply unit 8 is located is the third locator 4c described above.

[0062] Power supply to the AMR 6 may be started before the robot 2 starts working, or may be started while the robot 2 is working, as shown in Fig. 8 below. Power supply may be started at any timing within the period from when the AMR 6 stops in the work area 13 to when the robot 2 finishes working.

[0063] <Power supply unit and locator structure> Fig. 6 is a schematic diagram of a locator 4 having a power supply unit 8, i.e., the third locator 4c. Fig. 7 illustrates the layout of the power supply unit 8. Note that the following description relates to the third locator 4c, but the other seven locators 4 have the same structure except for the structure related to the power supply unit 8.

[0064] The locator 4 is a three-axis Cartesian robot. The locator 4 has a first arm 41 that supports the body 11 from below. The first arm 41 extends in the left-right direction. The first arm 41 has a pin 41a at its tip. The pin 41a is connected to the body 11.

[0065] 6, the locator 4 has a base 42 fixed to the floor surface, a first stage 43 that moves horizontally toward the stopped AMR 6, a second stage 44, and a third stage 45. The first arm 41 is connected to the third stage 45.

[0066] The first stage 43 moves horizontally, more specifically, left and right, by sliding relative to the base 42. The first stage 43 is actuated by a first motor 46. The second stage 44, the third stage 45, the first arm 41, and the power supply unit 8 move left and right as the first stage 43 moves left and right.

[0067] The second stage 44 moves in the front-to-rear direction by sliding relative to the first stage 43. The second stage 44 is actuated by a second motor 47. The third stage 45 and the first arm 41 move in the front-to-rear direction as the second stage 44 moves in the front-to-rear direction.

[0068] The third stage 45 moves in the vertical direction by sliding relative to the second stage 44. The third stage 45 is actuated by a third motor 48. The first arm 41 moves in the vertical direction as the third stage 45 moves in the vertical direction.

[0069] The power supply unit 8 moves integrally with the first stage 43. As shown in FIG. 3, the power supply unit 8 is electrically connected to the system controller 16 via the AMR control panel 18. The power supply unit 8 receives a control signal from the system controller 16 via the AMR control panel 18. Upon receiving the control signal, the power supply unit 8 supplies power to the power receiving unit 612 of the AMR 6. By supplying power to the power receiving unit 612, the battery 610 is charged.

[0070] 7, the power supply unit 8 is located at the same height in the vertical direction as the power receiving unit 612 of the AMR 6. Note that being located at the same height here means that at least a portion of the power receiving unit 612 and at least a portion of the power supply unit 8 are located at the same height in the vertical direction.

[0071] Specifically, the power supply unit 8 has a second arm 81 and an electrode 82.

[0072] The second arm 81 extends leftward from the first stage 43. The second arm 81 moves left and right together with the first stage 43 when driven by the first motor 46. By moving the second arm 81, the tip of the second arm 81 and the power receiving unit 612 of the AMR 6 come close to each other.

[0073] The electrode 82 is located at the tip of the second arm 81. The electrode 82 wirelessly feeds power received from an external power source 83. The electrode 82 wirelessly feeds power to the battery 610 via the power receiving unit 612 of the AMR 6. The electrode 82 moves integrally with the first stage 43.

[0074] When the body 11 is transported, the locator 4 activates the first stage 43, the second stage 44, and the third stage 45 to connect the pin 41a and the body 11.

[0075] In detail, the locator 4 first activates the first stage 43. The activation of the first stage 43 causes the second stage 44, the third stage 45, the first arm 41, and the power supply unit 8 to move toward the stopped AMR 6. As shown in the upper part of Figure 7, the movement of the power supply unit 8 brings the electrode 82 of the power supply unit 8 and the power receiving unit 612 of the AMR 6 closer to each other.

[0076] Next, the locator 4 activates the second stage 44 and the third stage 45. By the activation of the second stage 44 and the third stage 45, the pin 41a and the body 11 are connected together while the power supply unit 8 and the power receiving unit 612 are kept close to each other.

[0077] Next, as shown in the lower part of FIG. 7 , locator 4 moves third stage 45 upward while pin 41a is connected to body 11. First arm 41 of locator 4 supports body 11 from below while lifting it above bogie 14. While supporting body 11, locator 4 activates first stage 43, second stage 44, and third stage 45 to align body 11. When aligning body 11, power supply unit 8 and power receiving unit 612 are kept close to each other. The amount of movement of each stage 43, 44, and 45 is calculated by system controller 16 based on images acquired by external camera 191.

[0078] Next, the system controller 16 activates the robot 2 to start working on the body 11. In parallel with the work by the robot 2, the power supply unit 8 supplies power to the AMR 6 via the electrode 82 and the power receiving unit 612. The power supply to the AMR 6 may be controlled by the system controller 16.

[0079] <Flowchart> Next, the process of charging the AMR 6 by the system controller 16 will be described with reference to FIG. 8. FIG. 8 is a flowchart illustrating the process related to the power supply unit 8. The memory of the system controller 16 stores the process described below as software in the form of a program. The processor of the system controller 16 reads the program from the memory and executes the process.

[0080] First, in step S11, system controller 16 determines whether or not alignment of body 11 by each locator 4 has been completed. For example, system controller 16 determines whether or not alignment of body 11 has been completed based on a signal from sensor 19. If the determination in step S11 is YES, system controller 16 advances the control process to step S12. If the determination in step S11 is NO, system controller 16 ends the processing in FIG. 8.

[0081] In step S12, the system controller 16 starts the work on the body 11 by each robot 2. Each robot 2 performs, for example, welding on the body 11 mounted on the AMR 6 that is stopped.

[0082] In the following step S13, the system controller 16 executes power supply from the power supply unit 8 to the AMR 6. As described above, power supply to the AMR 6 is performed in parallel with the work performed by each robot 2.

[0083] In the following step S14, the system controller 16 determines whether or not the work performed by each robot 2 has been completed. The system controller 16 determines whether or not the work performed by each robot 2 has been completed based on the work process previously stored in the memory. If the determination in step S14 is YES, the system controller 16 advances the control process to step S15. If the determination in step S14 is NO, the system controller 16 returns the control process to step S13.

[0084] If the process proceeds to step S15, it means that the work by each robot 2 has already been completed. In step S15, the system controller 16 stops the power supply from the power supply unit 8 to the AMR 6, and ends the process shown in FIG.

[0085] <Action and effect> The AMR 6 does not require a running guide. As shown in Figure 1 or 2, a production line 10 equipped with the AMR 6 has the advantage of not requiring the pits required for laying the body transport rails and body elevators, which are necessary in conventional production lines. Another advantage is that, because the floor in the factory is flat, the production line 10 equipped with the AMR 6 can easily accommodate layout changes.

[0086] Furthermore, using AMR 6 in the production line 10 enables production adjustment by adjusting the number of AMR 6. This allows for flexible operation of the production line 10.

[0087] As shown in FIG. 8, the robot system 1 supplies power from the power supply unit 8 in parallel with the work performed by the robot 2. The work performed by the robot 2 is performed when the AMR 6 is stopped. Power can be supplied by the power supply unit 8 while the AMR 6 is stopped. By performing two different processes in parallel, the work can be carried out more efficiently than when the two different processes are performed at different times. By carrying out the work efficiently, the production efficiency of the manufacturing line 10 is improved.

[0088] Work efficiency can be improved regardless of whether the charging station 100 is used or not. For example, when the power supply unit 8 and the charging station 100 are used together as described above, the frequency with which the AMR 6 stops by the charging station 100 can be reduced, and the amount of time the AMR 6 spends at the charging station 100 can be reduced. Work can be carried out efficiently throughout the entire production line 10.

[0089] As shown in FIG. 7, the power supply unit 8 of the robot system 1 is located at the locator 4 that aligns the body 11. When the locator 4 aligns the body 11, the power supply unit 8 can be brought close to the AMR 6. Wireless power supply by the power supply unit 8 can be achieved without using a dedicated power supply robot. Because a dedicated power supply robot is no longer necessary, the cost of the robot system 1 can be reduced.

[0090] As shown in FIG. 7 , the power supply unit 8 of the robot system 1 is located on the first stage 43 of the locator 4. The first stage 43 moves horizontally, more specifically, left and right, to approach the stopped AMR 6. By moving the first stage 43 and the power supply unit 8 together, the power supply unit 8 can be brought close to the AMR 6 without providing a special mechanism to the locator 4. Since the alignment of the body 11 and the movement of the power supply unit 8 can be performed simultaneously, work can be carried out more efficiently than when the alignment and movement are performed at separate times. By carrying out work efficiently, the production efficiency of the production line 10 is improved.

[0091] 7, the power supply unit 8 of the robot system 1 is located at the same height as the power receiving unit 612 of the AMR 6. Meanwhile, the first stage 43 moves in the left-right direction, more generally in the horizontal direction, when aligning the body 11. Therefore, even if the first stage 43 is operated when aligning the body 11, vertical misalignment between the power supply unit 8 and the power receiving unit 612 is suppressed. This makes it possible to more reliably position the power supply unit 8 relative to the power receiving unit 612.

[0092] 5, a charging station 100 is located on the detour L2 connected to the transport route L1. By using the charging station 100 in combination with the power supply unit 8, as described above, it is possible to reduce the frequency of trips to the charging station 100 and the time spent at the charging station 100. This improves the production efficiency of the production line 10.

[0093] <Modification of the robot system> Fig. 9 is a diagram corresponding to Fig. 7, showing a modified example of the robot system 1. The modified example shown in Fig. 9 differs from the embodiment described above in the structure and configuration of the power supply unit.

[0094] As illustrated in FIG. 9 , the power supply unit 108 according to the modified example is located on the floor surface F within the work area 13. The floor surface F within the work area 13 is the floor surface on which the AMR 6 travels. More specifically, the power supply unit 108 is located inside the floor surface F. Furthermore, in the modified example, the power receiving unit 612 is exposed from the bottom surface of the AMR 6.

[0095] 9, when the AMR 6 stops in the work area 13, the power supply unit 108 and the power receiving unit 612 face each other in the vertical direction. The power supply unit 108 and the power receiving unit 612 move closer to each other.

[0096] 9, even if the third locator 4c is activated after the AMR 6 has stopped, the relative positional relationship between the power supply unit 108 and the power receiving unit 612 is maintained. Because the relative positional relationship is maintained, power can be supplied by the power supply unit 108 in parallel with the work performed by the robot 2.

[0097] Therefore, similar to the above-described embodiment, the power supply unit 8 supplies power by using the stop time of the AMR6. By supplying power in parallel with the operation by the robot 2, the operation can be advanced more efficiently than when two different processes are performed at different timings. By advancing the operation more efficiently, the production efficiency of the production line 10 is improved.

[0098] In addition, since the power supply unit 108 is located on the floor surface F in the work area 13, the power supply unit 108 and the power receiving unit 612 can be brought close to each other only by stopping the AMR6 at a predetermined position in the work area 13. A mechanism for moving the power supply unit becomes unnecessary. The robot system 1 can be made low-cost.

[0099] <Modified Example of AMR> FIG. 10 shows an AMR1006 according to a modified example. The AMR1006 in FIG. 10 is another example of the AMR6 in FIG. 4. The drive configuration of the AMR1006 is different from that of the AMR6 in FIG. 4. The AMR1006 does not have a steering mechanism 64. The AMR1006 has two independent drive wheels 621 and 622. The AMR1006 is an independently-driven transport vehicle.

[0100] The drive wheel 621 is located to the right of the middle part in the front-rear direction of the AMR1006. The drive wheel 622 is located to the left of the middle part of the AMR1006. The rotation axes of the drive wheel 621 and the drive wheel 622 extend in the left-right direction and are coaxial.

[0101] The AMR1006 has idler wheels 631 and 632. The idler wheel 631 is located at the center in the left-right direction at the front end of the AMR1006. The idler wheel 632 is located at the center in the left-right direction at the rear end of the AMR6. The idler wheels 63 and 632 can each change their directions. Note that the AMR1006 may have one idler wheel.

[0102] The AMR 1006 has a motor 641 and a motor 642 as driving sources for traveling. The motor 641 is mechanically connected to the driving wheel 621. The motor 642 is mechanically connected to the driving wheel 622. The driving wheels 621 and 622 can rotate independently of each other. If the driving wheels 621 and 622 rotate in the same direction at the same rotational speed, the AMR 1006 moves straight. If the driving wheels 621 and 622 rotate in the same direction at different rotational speeds, the AMR 1006 turns.

[0103] When the drive wheels 621 and 622 rotate in different directions, the AMR 1006 turns on the spot, that is, rotates around a vertical axis. When the drive wheels 621 rotate in the forward direction and the drive wheels 622 rotate in the reverse direction, the AMR 1006 rotates counterclockwise in Fig. 10. When the drive wheels 621 rotate in the reverse direction and the drive wheels 622 rotate in the forward direction, the AMR 1006 rotates clockwise in Fig. 10. The AMR 1006, which does not have a rotary table 68, can correct the inclination of the body 11 by turning on the spot.

[0104] The AMR 1006 according to the modified example has a battery 610 configured similarly to the AMR 6 in FIG. 4, a charging sensor 611, and a power receiving unit 612. The functions of these elements are the same as those of the AMR 6 in FIG. 4. That is, the power receiving unit 612 receives power from the power supply unit 8 or the charging station 100. The power received by the power receiving unit 612 is supplied to the battery 610. The battery 610 supplies power to two motors 641, 642. The charging status of the battery 610 is detected by the charging sensor 611.

[0105] <Other variations> The locator 4 having the power supply unit 8 is not limited to the third locator 4c. Any other locator 4 may be provided with the power supply unit 8. Furthermore, the location of the power supply unit 8 is not limited to the first stage 43. The power supply unit 8 may be located on the second stage 44, the third stage 45, or the first arm 41.

[0106] The locator 4 is not essential. The robot system 1 may include an articulated robot that supports the body 11 instead of or in addition to the locator 4. The articulated robot may include a power supply unit 8 as shown in FIG. 7.

[0107] The drive wheels of the AMR6 are not limited to wheels, but may be Mecanum wheels or omni wheels.

[0108] The transport route L1 of the AMR 6 is not limited to the example shown in Figure 5. The detour route L2 and the charging station 100 are not essential. The AMR 6 may be powered by the power supply unit 8 alone, without using both the charging station 100 and the power supply unit 8.

[0109] It is not essential to use the AMR 6 as the transport vehicle. The robot system 1 may be equipped with an AGV as the transport vehicle. The AGV stops in the work area 13, just like the AMR. Power can be supplied by the power supply unit 8 while the AGV is stopped.

[0110] The system controller 16 may be omitted from the robot system 1. The robot system 1 may achieve the above-described control by mutual communication between the robot controller 17, the AMR control panel 18, and the AMR 6.

[0111] 8 is merely an example. For example, the order of steps S12 and S13 may be reversed, or steps S12 and S13 may be executed simultaneously.

[0112] It should be noted that the work performed by the robot system 1 disclosed herein in the manufacturing line 10 is not limited to welding. Furthermore, the workpiece that the robot system 1 acts on is not limited to the automobile body 11. Furthermore, the robot system 1 is not limited to application to the automobile manufacturing line 10.

[0113] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0114] <Aspect> The above embodiment is a specific example of the following aspects.

[0115] (Aspect 1) a robot (2) that performs work on a workpiece (11) transported to a work area (13); a transport vehicle (6) that transports the workpiece (11) and stops in the work area (13) while the robot (2) is working; The robot system (1) is provided with a power supply unit (8, 108) that is located in the work area (13) and supplies power to the transport vehicle (6) in parallel with work by the robot (2).

[0116] The robot system (1) is powered by a power supply unit (8, 108) in parallel with the work performed by the robot (2). The work performed by the robot (2) is performed when the transport vehicle (6) is stopped. Power can be supplied by the power supply unit (8, 108) while the transport vehicle (6) is stopped. By performing two different processes in parallel, the work can be carried out more efficiently than if the two different processes were performed at different times.

[0117] (Aspect 2) a locator (4c) located in the work area (13) for aligning the workpiece (11) when the robot (2) performs work; The robot system (1) according to aspect 1, wherein the power supply unit (8) is located in the locator (4c).

[0118] The power supply unit (8) of the robot system (1) is located on the locator (4c). When aligning with the locator (4c), the power supply unit (8) can be brought close to the transport vehicle (6). This eliminates the need for a dedicated power supply robot, allowing for low-cost robot system (1).

[0119] (Aspect 3) The locator (4c) has a first stage (43) that moves horizontally toward the transport vehicle (6), The robot system (1) according to aspect 2, wherein the power supply unit (8) moves integrally with the first stage (43).

[0120] The power supply unit 8 of the robot system 1 is located on the first stage 43. The first stage 43 moves horizontally toward the stopped transport vehicle 6. By moving the first stage 43 and the power supply unit 8 together, the power supply unit 8 can be brought close to the transport vehicle 6 without providing a special mechanism to the locator 4c. Since the alignment of the workpiece 11 and the movement of the power supply unit 8 can be performed simultaneously, the work can be performed more efficiently than when the alignment and movement are performed at separate times.

[0121] (Aspect 4) The transport vehicle (6) has a power receiving unit (612) that receives power from the power supply unit (8), The robot system (1) according to aspect 3, wherein the power supply unit (8) is positioned at the same height as the power receiving unit (612) in the vertical direction.

[0122] The power supply unit 8 of the robot system 1 is located at the same height as the power receiving unit 612 of the transport vehicle 6. Meanwhile, the first stage 43 moves horizontally when aligning the workpiece 11. Therefore, even if the first stage 43 is operated when aligning the workpiece 11, vertical misalignment between the power supply unit 8 and the power receiving unit 612 is suppressed. This makes it possible to more reliably position the power supply unit 8 relative to the power receiving unit 612.

[0123] (Aspect 5) The robot system (1) according to aspect 1, wherein the power supply unit (108) is located on a floor surface (F) within the work area (13) on which the transport vehicle (6) travels.

[0124] Since the power supply unit 108 is located on the floor F within the work area 13, the power supply unit 108 and the power receiving unit 612 can be brought close to each other simply by stopping the transport vehicle 6 at a predetermined position within the work area 13. This eliminates the need for a mechanism to move the power supply unit 108, thereby reducing the cost of the robot system 1.

[0125] (Aspect 6) The robot system (1) according to any one of aspects 1 to 5, wherein the transport vehicle is an autonomous transport robot (6).

[0126] The autonomous mobile transport robot (6) can transport the workpiece (11) to the work area (13) by traveling on a flat floor. No pit is required for transporting the workpiece (11). The use of the autonomous mobile transport robot (6) also has the advantage of being able to easily accommodate changes to the layout of the production line (10).

[0127] (Aspect 7) The transport vehicle (6) travels along a predetermined transport path (L1), A detour (L2) is connected to the transport route (L1) through which the transport vehicle (6) passes depending on the charging status, The robot system (1) according to any one of aspects 1 to 6, further comprising a charging station (100) located on the detour (L2) and supplying power to the transport vehicle (6).

[0128] A charging station (100) is located on a detour (L2) connected to the transport route (L1). By using the charging station (100) in combination with the power supply unit (8, 108), it is possible to reduce the frequency of trips to the charging station (100) and the time spent at the charging station (100). [Explanation of symbols]

[0129] 1. Robot System 10 production lines 11 Body (work) 13 Work Area 2. Robot 4c Third Locator (Locator) 41 First Arm 42 base 43 Stage 1 44 Stage 2 45 Third Stage 6 AMR (transport vehicle) 612 Power receiving unit 8 Power supply unit 81 Second Arm 82 electrode 108 Power Supply Unit 100 charging stations F Floor L1 transport route L2 detour

Claims

1. a robot that performs work on the workpiece transported to the work area; a transport vehicle that transports the workpiece and stops in the work area while the robot is working; a power supply unit located in the work area and supplying power to the transport vehicle in parallel with work by the robot.

2. 2. The robot system according to claim 1, a locator that is located in the work area and that aligns the workpiece when the robot performs work; The power supply unit is located in the locator of the robot system.

3. 3. The robot system according to claim 2, the locator has a first stage that moves horizontally toward the transport vehicle; The power supply unit moves integrally with the first stage.

4. 4. The robot system according to claim 3, the transport vehicle has a power receiving unit that receives power from the power supply unit, A robot system in which the power supply unit is located at the same height as the power receiving unit in the vertical direction.

5. 2. The robot system according to claim 1, The power supply unit is a robot system located on a floor surface within the work area on which the transport vehicle travels.

6. 2. The robot system according to claim 1, The transport vehicle is a robot system that is an autonomous transport robot.

7. 7. The robot system according to claim 6, The transport vehicle travels along a predetermined transport route, a detour route through which the transport vehicle passes depending on a charging status is connected to the transport route; The robot system further includes a charging station located on the detour route and configured to supply power to the transport vehicle.

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