Work system and processing device

Abstract

To acquire a positional error when a processing device is attached to a work device.SOLUTION: A work system 100 includes a work device 110 and a processing device 130 that is transported on a floor surface 300 and attached to and detached from the work device 110. In the work system 100, the work device 110 includes a guide member 150 that guides movement of the processing device 130 when the processing device 130 is attached. The processing device 130 includes: a main body part 131 that performs processing on the work device 110 that is attached while being guided by the guide member 150; a carriage 132 that supports the main body part 131 and is transported on a floor surface 300; a coupling part 133 that couples the main body part 131 and the carriage 132; and an error acquisition device 140 that acquires an error of at least a position of the processing device 130 in a vertical direction with respect to the work device 110 in a state where the processing device 130 is attached to the work device 110.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work system that performs work on an object, and a processing device that the work system includes. [Background technology]

[0002] Conventionally, there have been processing devices that are transported to a floor where a work device is installed and attached to the work device. Patent Document 1 describes a component mounting device that performs work on printed circuit boards and the like as one of the work devices, and a component supply device that automatically supplies carrier tape holding multiple components as one of the processing devices. The component supply device is provided with a positioning unit consisting of a pair of rails, and the document describes a technology in which, when the component supply device is attached to the component mounting device, the component supply device is guided via the positioning unit by a guide means attached to the component mounting device, thereby correcting any positional deviation of the component supply device relative to the component mounting device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-064679 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if one attempts to correct all three-dimensional misalignments of the component supply device relative to the component mounting device through structural guidance, there are problems such as the need to complicate the structure of the positioning section of the component supply device and the structure of the component supply device.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a work system and a processing device that can tolerate positional errors when a processing device is attached to a work device and acquire such errors as data. [Means for solving the problem]

[0006] One work system of the present invention is a work system comprising a work device that performs work on an object, and a processing device that is transported on a floor surface on which the work device is installed and is attached and detached to the work device, wherein the work device has a guide member that guides the movement of the processing device when it is attached, and the processing device has a main body that performs processing on the work device that has been attached while being guided by the guide member, a cart that supports the main body and is transported on the floor surface, a connecting part that connects the main body and the cart, and an error acquisition device that acquires the error in the position of the processing device relative to the work device in at least the vertical direction when the processing device is attached to the work device.

[0007] Another processing device of the present invention is a processing device that is transported on a floor surface on which a work device that performs work on an object is installed, and is attached and detached to the work device, and is equipped with a main body that performs processing on the work device, a cart that supports the main body and is transported on the floor surface, a connecting part that connects the main body and the cart, and an error acquisition device that acquires the positional error of the processing device relative to the work device in at least the vertical direction when the processing device is attached to the work device, guided by a guide member attached to the work device. [Effects of the Invention]

[0008] According to the present invention, it is possible to obtain a positional error when a processing device is attached to a work device and feed it back to the processing of the processing device. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing a working system. [Figure 2] FIG. [Figure 3] FIG. [Figure 4]FIG. 2 is a cross-sectional view showing the processing apparatus in a cutaway state. [Figure 5] FIG. 2 is a perspective view showing one side of a guide member and a guided member. [Figure 6] FIG. 2 is a block diagram showing the functional configuration of the operation control device. [Figure 7] 10A and 10B are cross-sectional views showing operation 1 of the error acquisition device. [Figure 8] 10A and 10B are cross-sectional views showing operation 2 of the error acquisition device. [Figure 9] 10A and 10B are cross-sectional views showing another example of the operation of the error acquisition device. [Figure 10] FIG. 10 is a perspective view showing another example of a processing apparatus. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of a work system and a processing device according to the present invention will be described with reference to the drawings. Note that the following embodiments are presented as examples to explain the present invention and are not intended to limit the present invention. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical formulas, the content of each step in a method, and the order of each step shown in the following embodiments are merely examples and may include content not described below. Furthermore, while geometric expressions such as parallel and orthogonal may be used, these expressions do not imply mathematical precision and include substantially acceptable errors, deviations, etc. Furthermore, expressions such as simultaneous and identical also include substantially acceptable ranges.

[0011] The drawings are schematic diagrams in which emphasis, omission, or adjustment of proportions is appropriately made for the purpose of explaining the present invention, and differ from the actual shapes, positional relationships, and proportions. The X-axis, Y-axis, and Z-axis shown in the drawings represent Cartesian coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z-axis is not necessarily an axis along the vertical direction, and the X-axis and Y-axis are not necessarily located within a horizontal plane.

[0012] In addition, in the following, multiple inventions may be collectively described as one embodiment, and some of the contents described below may be described as optional components related to the present invention.

[0013] 1 is a perspective view showing a working system 100. Working system 100 is a system for performing work on an object (not shown), and includes a working device 110 and a processing device 130. In this embodiment, working system 100 includes an automated guided vehicle 200 for transporting processing device 130.

[0014] FIG. 2 is a perspective view showing a working device 110. The working device 110 is a device that performs a task on an object and includes a guide member 150 that guides the movement of the processing device 130 when the processing device 130 is attached. The type of working device 110 is not limited. For example, a device that performs a task on a board, which is one of the objects, such as mounting components on the board, can be exemplified as the working device 110. Other examples of the working device 110 include devices incorporated in a circuit board manufacturing line, such as a solder printing device that prints solder paste on the surface of a board, a component mounting device that mounts components on a board, and a reflow furnace that melts solder paste by heating and mechanically and electrically connects the components to the board by cooling. The working device 110 also includes an inspection device that inspects each process of performing a task on a board, and a transport device that connects each device and transports boards and the like during manufacturing.

[0015] In this embodiment, the operating device 110 is equipped with a reference part 111. The shape and structure of the reference part 111 are not limited. The reference part 111 may be a part of a structural member that constitutes the operating device 110, or may be a dedicated part that functions as the reference part 111. The reference part 111 preferably extends in the attachment / detachment direction of the processing device 130 (the Y-axis direction in the figure). Furthermore, it is preferable that at least the upper surface or the lower surface of the reference part 111 is parallel to a horizontal plane (the XY plane in the figure).

[0016] FIG. 3 is a perspective view showing processing device 130. FIG. 4 is a cross-sectional view showing processing device 130 in a cutaway state. Processing device 130 is a device that is transported on floor surface 300 on which operating device 110 is installed, performs processing between processing device 110 while attached to operating device 110, and is detached from operating device 110 after the processing is completed. The type of processing device 130 is not particularly limited. Examples of processing device 130 include a carrier tape supplying device that supplies a container containing carrier tape to a component mounting device, which is one of operating devices 110, a tray supplying device that supplies trays on which components are placed, and a solder supplying device that supplies solder paste to a solder printing device. Furthermore, processing device 130 may be a device that accesses operating device 110 to perform adjustment processing, maintenance, etc., rather than supplying components.

[0017] Processing device 130 comprises main body 131 that performs processing on attached working device 110 guided by guide member 150, carriage 132 that supports main body 131 and is transported on floor surface 300, connecting portion 133 that connects main body 131 and carriage 132, and error acquiring device 140 that acquires the positional error of processing device 130 relative to working device 110 in at least the vertical direction when processing device 130 is attached to working device 110. In the case of this embodiment, processing device 130 comprises elastic member 135, vibration damper 136, and guided member 160.

[0018] Wheels 137 are provided at the bottom end of the carriage 132 of the processing device 130. In the present embodiment, the wheels 137 are provided at each of the four corners of the carriage 132, and each serves as a swivel caster. This allows the processing device 130 to be moved in any direction by the automated guided vehicle 200, and also allows it to change direction and rotate (pivot) at the same position.

[0019] The connecting portion 133 is a portion that connects the carriage 132 to the main body portion 131 so that the carriage 132 can tilt. The degrees of freedom for tilting the carriage 132 relative to the main body portion 131 include roll, which is tilting around the attachment / detachment direction (Y-axis direction in the figure), pitch, which is tilting around the width direction (X-axis direction in the figure), and yaw, which is tilting around the up-down direction (Z-axis direction in the figure), but in the case of this embodiment, the degrees of freedom are limited to roll.

[0020] Specifically, the coupling portion 133 includes a main body coupling portion 138 provided on the main body portion 131, a bogie coupling portion 139 provided on the bogie 132, and a connecting shaft 103 that couples the main body coupling portion 138 and the bogie coupling portion 139 so that the main body portion 131 is rotatable relative to the bogie 132. The main body coupling portion 138 and the bogie coupling portion 139 are provided at both ends of the bogie 132 in the attachment / detachment direction. The connecting shaft 103 extends in the attachment / detachment direction from the set of the main body coupling portion 138 and the bogie coupling portion 139 that is arranged at one end of the bogie 132 to the set of the main body coupling portion 138 and the bogie coupling portion 139 that is arranged at the other end.

[0021] The elastic members 135 are arranged on both sides in the width direction of the pivot axis of the carriage 132 relative to the main body 131 (the axis of the connecting shaft body 103 in this embodiment), and are members interposed between the carriage 132 and the main body 131. The elastic members 135 bias the main body 131 to a neutral state relative to the carriage 132. There are no limitations on the type of elastic member 135, but in this embodiment, a coil spring is used.

[0022] Vibration damper 136 is a device, or so-called shock absorber, that suppresses vibrations occurring in main body 131 by elastic member 135. When main body 131 vibrates in the roll direction while processing device 130 is being transported, vibration damper 136 can quickly suppress the vibrations, thereby ensuring stable travel of processing device 130.

[0023] FIG. 5 is a perspective view showing one side of the guide member 150 and the guided member 160. In FIG. 5, a portion of the guided member 160 is shown in a see-through state. In FIG. 5, the guide member 150 and the guided member 160 are shown on the right side as viewed from the front of the working device 110. A pair of guide members 150 are provided in the width direction (the X-axis direction in the figure). A pair of guided members 160 are provided in the width direction to correspond to the pair of guide members 150. The pair of guide members 150 and the pair of guided members 160 are plane-symmetrical. The guided members 160 and the guide members 150 are structures that determine the positional relationship of the processing device 130 with respect to the working device 110. When the processing device 130 is attached to the working device 110, the pair of guided members 160 are sandwiched between the pair of guide members 150, and the guide members 150 guide the movement of the processing device 130. In this embodiment, the guide member 150 includes a first portion 151 and a locking portion 152.

[0024] The first part 151 is a member for positioning the processing device 130 relative to the working device 110. The first part 151 is a plate-like member extending in the attachment / detachment direction (Y-axis direction in the figure) along a vertical plane (YZ plane in the figure), which is a plane including the up and down directions, and is a pair of structural members arranged to face each other with a gap in the width direction (X-axis direction in the figure), which is orthogonal to the attachment / detachment direction in the horizontal plane.

[0025] In this embodiment, the pair of first parts 151 protrude outward (Y- direction in the figure) from the working device 110 along the attachment / detachment direction (Y-axis direction in the figure) in a horizontal plane (XY plane in the figure) and are arranged parallel to each other. The pair of first parts 151 have a symmetrical shape with a plane including the attachment / detachment direction and the downward direction as the plane of symmetry.

[0026] 5, tapered surfaces 153 that gradually move away from each other toward the tip (the side of the processing device 130) of the pair of first parts 151 are provided on the tip (side of the processing device 130). When the processing device 130 is attached to the working device 110, the tip of the guided member 160 first comes into contact with the tapered surfaces 153. As a result, even if the position of the processing device 130 relative to the working device 110 in the left-right direction is misaligned, the processing device 130 is guided by the tapered surfaces 153 and the position of the processing device 130 is corrected to an appropriate position.

[0027] In this embodiment, the first unit 151 functions as both a roll guide unit that determines the roll angle (the angle of rotation around the Y-axis in the drawing) of the main body unit 131 of the processing device 130, and a yaw guide unit that determines the yaw angle (the angle of rotation around the Z-axis in the drawing) of the main body unit 131 of the processing device 130. Note that the X-axis in the drawing corresponds to the width direction, the Y-axis corresponds to the attachment / detachment direction, and the Z-axis corresponds to the direction of gravity. Also, yaw is rotation around the Z-axis, roll is rotation around the Y-axis, and pitch is rotation around the X-axis.

[0028] The locking portion 152 is a portion that positions the processing device 130 in the attachment / detachment direction relative to the working device 110. The locking portion 152 is a rectangular plate-shaped member that extends in a plane (XZ plane in the drawing) perpendicular to the attachment / detachment direction (Y-axis direction in the drawing), rises vertically from the first portion 151, and extends in the up-down direction.

[0029] The guided members 160 are members that come into contact with the guide member 150 to determine the position of the main body part 131 relative to the working device 110. When the processing device 130 is attached to the working device 110, the guided members 160 move relatively along each of the pair of first parts 151. The pair of guided members 160 are structures that protrude from the processing device 130 toward the working device 110 along the attachment / detachment direction (the Y-axis direction in the figure) within a horizontal plane (the XY plane in the figure) and are arranged parallel to each other. The pair of guided members 160 have a symmetrical shape with a vertical plane that includes the attachment / detachment direction and the up-down direction as the plane of symmetry.

[0030] In this embodiment, guided member 160 includes a contact portion 161 that directly contacts guide member 150, a holding portion 162 that holds a contact portion 161, and an engaged portion 163 that contacts engaging portion 152 of guide member 150. The shape and structure of contact portion 161 are not limited, and it may be, for example, a sliding member that slides relative to guide member 150. In this embodiment, contact portion 161 is a roller that is attached to holding portion 162 so as to be rotatable around a rotation axis that extends in the up-down direction (vertical direction).

[0031] Of the multiple contact portions 161, at least two contact portions 161 arranged spaced apart from each other in the vertical direction function as roll contact portions that correct the posture of the main body 131 of the processing device 130 in the roll direction. In the case of this embodiment, each of the guided members 160 has two pairs of roller-shaped contact portions 161 arranged side by side in the attachment / detachment direction on the same rotation axis extending in the vertical direction and spaced apart from each other in the vertical direction. On the other hand, from another perspective, of the multiple contact portions 161, at least two contact portions 161 arranged side by side in the attachment / detachment direction function as yaw contact portions that correct the posture of the main body 131 of the processing device 130 in the yaw direction. In the case of this embodiment, each of the guided members 160 has two pairs of roller-shaped contact portions 161 arranged side by side in the vertical direction and spaced apart from each other in the attachment / detachment direction. That is, the four contact portions 161 arranged at the vertices of a rectangle on the guided member 160 come into contact with the plate-shaped first portion 151, thereby correcting the posture of the main body portion 131 in both the roll and yaw directions. The portions of the first portion 151 that come into contact with the multiple contact portions 161 function as roll guide portions and yaw guide portions.

[0032] The locked portions 163 are provided on the guided member 160 and spaced apart from each other in the vertical direction. The pair of locked portions 163 are arranged so as to abut against the locking portions 152 at two points in the vertical direction when the processing device 130 is attached to the working device 110 on a flat floor surface 300. The shape and structure of the locked portions 163 are not limited, and may be, for example, a solid object made of resin or rubber that softly abuts against the locking portions 152. In this embodiment, the locked portions 163 are rollers attached to the holding portion 162 so as to be rotatable around a rotation axis extending in the width direction.

[0033] In this embodiment, the pair of guided members 160 are guided by the pair of guide members 150, so that errors in the width direction (X-axis direction in the figure), roll axis (around Y-axis in the figure), and yaw axis (around Z-axis in the figure) are almost completely eliminated. Errors in the attachment / detachment direction (Y-axis direction in the figure) may occur along with errors in the pitch direction. However, correcting such errors by operating the processing device 130 requires energy to move the center of gravity against gravity. Even if errors in the attachment / detachment direction occur, they can often be ignored due to the processing operation in the attachment / detachment direction that the processing device 130 performs on the working device 110. Errors in the up / down direction (Z-axis direction in the figure) may occur along with errors in the pitch direction and the vertical position of the entire device. However, as with correcting errors in the pitch direction, moving the entire processing device 130 up and down still requires a large amount of energy to move the center of gravity, so moving the entire device is not economically effective. However, there are cases where the error in the vertical direction cannot be ignored due to the processing operation that the processing device 130 performs on the working device 110, and by acquiring the error in the vertical direction in advance, the processing operation can be carried out smoothly. A method for acquiring the error in the vertical direction will be described below.

[0034] The error acquisition device 140 is a device that acquires the position error of the processing device 130 relative to the working device 110 in at least the vertical direction (Z-axis direction in the drawing) when the processing device 130 is attached to the working device 110, in this embodiment when at least one of the locked portions 163 is in contact with the locking portion 152. The position error refers to a vertical deviation that occurs when the processing device 130 is tilted in the pitch direction relative to a state in which the processing device 130 is placed on a horizontal surface (hereinafter sometimes referred to as the "reference state"). In this embodiment, the error is approximated by the measurement value of the error acquisition device 140.

[0035] There is no limitation on the type of error acquisition device 140. For example, the error acquisition device 140 may be one that includes a camera and an image analysis device, or one that includes a distance measurement device using laser light or the like. In the present embodiment, the error acquisition device 140 includes a detection unit 141, an advance / withdrawal mechanism 142, a vertical movement mechanism 143, and an operation control device 144, as shown in FIG.

[0036] Detecting unit 141 is a member whose tip portion abuts against the upper or lower surface of reference unit 111 provided on working device 110. In the present embodiment, detecting unit 141 is a rod-shaped member extending in the attachment / detachment direction. Note that, although a protrusion is depicted below the tip of detecting unit 141 in FIG. 4 and other figures, this protrusion is not an essential component.

[0037] The advance / withdrawal mechanism 142 is a mechanism that can protrude the detection unit 141 in the attachment / detachment direction toward the working device 110 and pull it back in the attachment / detachment direction when the processing device 130 is attached to the working device. The specific structure of the advance / withdrawal mechanism 142 is not limited, but an example can be a structure that includes a rail that extends in the attachment / detachment direction, a block that moves along the rail, a reciprocating drive mechanism such as a ball screw that reciprocates the block, and an advance / withdrawal motor that drives the reciprocating drive mechanism.

[0038] The vertical movement mechanism 143 is a mechanism that, when the processing device 130 is attached to the working device and the detection unit 141 is protruding, can move the detection unit 141 in the vertical direction to bring the detection unit 141 into contact with the reference unit 111 provided on the working device 110. The specific structure of the vertical movement mechanism 143 is not limited, but an example can be a structure that includes a rail that extends in the vertical direction, a block that moves along the rail, a reciprocating drive mechanism such as a ball screw that reciprocates the block, and an up-down motor that drives the reciprocating drive mechanism.

[0039] In addition, when the processing device 130 is tilted in the pitch direction relative to the reference state, the ejection / retraction mechanism 142 is slightly deviated from the attachment / detachment direction, and the vertical movement mechanism 143 is slightly deviated from the vertical direction, but in this specification and the like, they are consistently referred to as the "attachment / detachment direction" and the "vertical direction."

[0040] 6 is a block diagram showing the functional configuration of operation control device 144. Operation control device 144 includes a processor, and controls the operation of error acquisition device 140, particularly, advance / retract mechanism 142 and vertical movement mechanism 143, by causing the processor to execute an operation control program. In the case of this embodiment, the operation control device includes information acquisition unit 145, advance / retract control unit 146, vertical movement control unit 147, measurement value acquisition unit 148, and notification unit 149 as processing units realized by the operation control program.

[0041] The information acquisition unit 145 acquires attachment information indicating that the processing device 130 has been attached to the maintenance device 110 from a main control device or the like that controls the operation of the maintenance device 110 .

[0042] When the information acquisition unit 145 acquires the attachment information, the extension / retraction control unit 146 controls the extension / retraction motor so that the detection unit 141 protrudes a predetermined length toward the work device 110, as shown in FIG.

[0043] After the advance / retraction control unit 146 has caused the detection unit 141 to protrude a predetermined length, the up / down movement control unit 147 controls the up / down motor so that the detection unit 141 moves toward the reference unit 111 as shown in FIG.

[0044] Based on contact information indicating that detection unit 141 has contacted reference unit 111, measurement value acquisition unit 148 derives an error indicating the difference in height position of detection unit 141 from when detection unit 141 contacted reference unit 111 in the reference state. The method for detecting whether detection unit 141 has contacted reference unit 111 is not limited. For example, the contact may be detected by a microswitch provided at the tip of detection unit 141. In the case of this embodiment, measurement value acquisition unit 148 of operation control device 144 detects the contact based on a change in the load on the vertical movement motor of vertical movement mechanism 143 when detection unit 141 contacts reference unit 111.

[0045] The notification unit 149 notifies the main control device or the like of the error acquired by the measurement value acquisition unit 148. The error is used in the processing that the processing device 130 executes on the operating device 110. For example, the error is used in the operation of a robot that operates when attaching an object held by the processing device 130 to the operating device 110. The method of notification by the notification unit 149 is not limited. For example, the notification unit 149 may output the error via communication.

[0046] The present invention is not limited to the above-described embodiments. For example, the present invention may be embodied in another embodiment by arbitrarily combining the components described in this specification or by excluding some of the components. Furthermore, the present invention also includes various modifications that would occur to a person skilled in the art without departing from the spirit of the present invention, i.e., the meaning of the wording of the claims.

[0047] For example, implementing a program corresponding to each process executed by the operation control device 144 also falls within the scope of the present invention. Of course, implementing a recording medium on which the program is recorded also falls within the scope of the present invention.

[0048] 9, the operation control device 144 may sequentially position the detection unit 141 at a first protrusion position a and a second protrusion position b different from the first protrusion position, abut the detection unit 141 against the reference portion 111 at each position, and acquire a measurement value A at the first protrusion position a and a measurement value B at the second protrusion position b. This allows the tilt of the processing device 130 in the pitch direction to be acquired, improving the accuracy of the error. Specifically, the tilt θ of the processing device 130 in the pitch direction is geometrically derived based on the first protrusion position a, the measurement value A, the second protrusion position b, and the measurement value B. The error in the up-down direction can be calculated using the following equation 1.

[0049] Vertical error = Measured value A + r * tanθ Formula 1 (r: radius of action from the center of rotation, + indicates addition, * indicates multiplication)

[0050] Since θ is infinitesimal, the calculation may be simplified by approximating tan θ in the above formula 1 to sin θ. Furthermore, when θ is in rad, sin θ or tan θ may be approximated to θ for linearization.

[0051] The error acquisition device 140 may also be provided with a width direction movement mechanism that can move the detection unit 141 in the width direction (X-axis direction in the drawing). The operation control device 144 may be configured to abut the detection unit 141 against the reference unit 111 at at least two points that are spaced apart in the width direction and are at the same position in the attachment / detachment direction (Y-axis direction in the drawing). This makes it possible to acquire the error in the roll direction.

[0052] Furthermore, although the case where the guide member 150 is plate-shaped and the guided member 160 has an abutment portion has been described, the guided member 160 may be plate-shaped and the guide member 150 may have an abutment portion.

[0053] Furthermore, the error acquisition device 140 and the main control device may be integrated, and each processing unit may be realized by a single processor.

[0054] 10, the coupling portion 133 may be a mechanism including a block-shaped bogie coupling portion 139 having a surface curved at a predetermined curvature, and a roller-shaped main body coupling portion 138 that abuts against the bogie coupling portion 139 and is guided by the bogie coupling portion 139. In other words, even without including the coupling shaft body 103, the main body portion 131 can be made to swing relative to the bogie 132 with the attachment / detachment direction as the central axis.

[0055] Furthermore, the advance / withdraw mechanism 142 and the up / down movement mechanism 143 do not have to be mechanisms dedicated to the error acquisition device 140, but may be shared with mechanisms used when the processing device 130 processes the working device 110.

[0056] Furthermore, although the embodiment has been described in which the guide member 150 is attached to the working device 110, the attachment position of the guide member 150 is not limited, and the guide member 150 may be attached to the floor surface 300 or the like.

[0057] Furthermore, although the case where processing device 130 is transported by automatic guided vehicle 200 has been described, processing device 130 may be transported by a manned guided vehicle or transported by human power. Processing device 130 may also be self-propelled.

[0058] (summary) The first aspect of the work system 100 is a work system 100 comprising a work device 110 that performs work on an object, and a processing device 130 that is transported on a floor surface 300 on which the work device 110 is installed and is attached and detached to the work device 110, the work device 110 comprising a guide member 150 that guides the movement of the processing device 130 when the processing device 130 is attached, and the processing device 130 comprises a main body 131 that performs processing on the work device 110 that has been attached while being guided by the guide member 150, a cart 132 that supports the main body 131 and is transported on the floor surface 300, a connecting part 133 that connects the main body 131 and the cart 132, and an error acquisition device 140 that acquires the positional error of the processing device 130 relative to the work device 110 in at least the vertical direction when the processing device 130 is attached to the work device 110.

[0059] According to the first aspect, when the processing device 130 is attached to the working device 110, even if the processing device 130 is tilted in the pitch direction, the positional error caused by the tilt of the processing device 130 can be obtained and fed back to the processing of the processing device 130.

[0060] The second embodiment of the work system 100 includes the first embodiment, and the error acquisition device 140 includes an extension / withdrawal mechanism 142 that can extend and retract the detection unit 141 toward the work device 110, an up / down movement mechanism 143 that abuts the detection unit 141 in the vertical direction against the reference unit 111 provided on the work device 110, and an operation control device 144 that controls the operation of the error acquisition device 140.

[0061] According to the second aspect, it is possible to obtain the error with a simple configuration.

[0062] The third aspect of the work system 100 includes the second aspect, and the operation control device 144 sequentially positions the detection unit 141 at a first protruding position and a second protruding position different from the first protruding position, and abuts the detection unit 141 against the reference unit 111 at each position.

[0063] According to the third aspect, the tilt of the processing device 130 in the pitch direction can be measured, and the accuracy of the error acquired by the error acquisition device 140 can be improved.

[0064] The fourth aspect of the work system 100 includes the second or third aspect, and the operation control device 144 detects contact based on a change in the load of the up-and-down movement mechanism 143 when the contact portion contacts the reference portion 111.

[0065] According to the fourth aspect, there is no need to provide a special sensor for detecting contact, and the number of parts of the processing device 130 can be reduced.

[0066] The fifth aspect of the work system 100 includes any of the first to fourth aspects, and the connecting portion 133 comprises a main body connecting portion 138 provided on the main body portion 131, a carriage connecting portion 139 provided on the carriage 132, and a connecting shaft 103 that connects the main body connecting portion 138 and the carriage connecting portion 139 so that the main body portion 131 can rotate relative to the carriage 132, and the connecting shaft 103 extends in the direction of attachment and detachment of the processing device 130 to the work device 110.

[0067] According to the fifth aspect, the degree of freedom of tilt of the main body 131 relative to the carriage 132 can be limited to around the attachment / detachment direction (roll direction).

[0068] The sixth aspect of the processing device 130 is a processing device 130 that is transported on a floor surface 300 on which a work device 110 that performs work on an object is installed, and is attached and detached to the work device 110, and is equipped with: a main body 131 that performs processing on the work device 110; a cart 132 that supports the main body 131 and is transported on the floor surface 300; a connecting part 133 that connects the main body 131 and the cart 132; and an error acquisition device 140 that acquires the positional error of the processing device 130 relative to the work device 110 in at least the vertical direction when the processing device 130 is attached to the work device 110, guided by a guide member 150 attached to the work device 110.

[0069] According to the sixth aspect, even if the processing device 130 is attached to the working device 110 and tilted in the pitch direction, the positional error caused by the tilt of the processing device 130 can be acquired and fed back to the processing of the processing device 130. [Industrial Applicability]

[0070] The present invention can be used for a processing device that travels on a floor on which an object work line made up of work devices is installed and performs work on the attached work devices, as well as a work system that includes such a processing device. [Explanation of symbols]

[0071] 100 Operating system 103 Connecting shaft body 110 Working device 111 Reference part 130 Processing device 131 Main body part 132 Cart 133 Connecting part 135 Elastic member 136 Vibration damper 137 Wheel 138 Main body connecting part 139 Cart connecting part 140 Error acquisition device 141 Detection part 142 Extension and retraction mechanism 143 Vertical movement mechanism 144 Motion control device 145 Information acquisition part 146 Extension and retraction control part 147 Vertical movement control part 148 Measurement value acquisition part 149 Notification part 150 Guide member 151 First part 152 Locking part 153 Tapered surface 160 Guided member 161 Contact part 162 Holding part 163 Locked part 200 Automated guided vehicle 300 Floor surface

Claims

1. A work system including a work device that performs work on an object, and a processing device that is transported on a floor surface on which the work device is installed and is attached to and detached from the work device, The working device is a guide member for guiding the movement of the processing device when the processing device is attached; The processing device includes: a main body that performs processing on the work device that is guided and attached by the guide member; a carriage that supports the main body and is transported on the floor surface; a connecting portion that connects the main body portion and the carriage; an error acquiring device that acquires a position error of the processing device relative to the work device in at least the vertical direction when the processing device is attached to the work device; Working system.

2. The error acquisition device an extension / withdrawal mechanism that can project the detection unit toward the working device and pull it back; a vertical movement mechanism that brings the detection unit into contact with a reference unit provided on the working device in the vertical direction; an operation control device that controls the operation of the error acquisition device; The work system according to claim 1 .

3. The motion control device includes: The detection portion is sequentially disposed at a first protruding position and a second protruding position different from the first protruding position, and the detection portion is brought into contact with the reference portion at each position. The work system according to claim 2 .

4. The motion control device includes: The contact is detected based on a change in the load of the vertical movement mechanism when the detection portion contacts the reference portion. The work system according to claim 2 .

5. The connecting portion is a main body connecting portion provided on the main body portion; a bogie coupling portion provided on the bogie; a connecting shaft body that connects the main body connecting portion and the bogie connecting portion so that the main body portion can rotate relatively to the bogie, The connecting shaft extends in a direction in which the processing device is attached to and detached from the work device. The work system according to claim 1 or 2.

6. A processing device that is transported on a floor surface on which a work device that performs work on an object is installed, and is attached to and detached from the work device, a main body that executes processing for the operation device; a carriage that supports the main body and is transported on the floor surface; a connecting portion that connects the main body portion and the carriage; an error acquiring device that acquires a position error of the processing device relative to the working device in at least a vertical direction when the processing device is attached to the working device while being guided by a guide member attached to the working device; A processing device comprising:

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