Work system, processing device, and error acquisition method

Abstract

To improve acquisition probability of a correct error.SOLUTION: A work system 100 includes a work device 110 and a processing device 130 attached to and detached from the work device 110, and in a state where the processing device 130 is attached to the work device 110, An error acquisition device 140 that acquires an error of a position of a processing device 130 with respect to a working device 110 on the basis of contact with a reference portion 111 included in the working device 110, and an operation control device 144 that controls the error acquisition device 140 are included, the operation control device 144 includes an acquisition operation execution unit 171 that causes the error acquisition device 140 to execute an error acquisition operation, and a success / failure determination unit 172 that determines success / failure of acquisition of a correct error, and the acquisition operation execution unit 171 changes an operation condition and executes the error acquisition operation in a case where the success / failure determination unit 172 determines that the correct error cannot be acquired.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a work system that performs work on an object, a processing device included in the work system, and an error acquisition method. [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.

[0003] However, if an attempt is made to correct all three-dimensional misalignments of the component supply device relative to the component mounting device through structural guidance, there are issues 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.

[0004] Therefore, we have separately filed an application for a work system that allows for positional errors when a component supply device is attached to a component mounting device and can acquire such errors as data. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2021-064679 Summary of the Invention [Problem to be solved by the invention]

[0006] However, as a result of the inventor's experiments, he discovered that in cases where the error acquisition device for acquiring the installation error is tilted, mechanical friction may occur and the error may not be acquired correctly.

[0007] The present disclosure is based on the inventor's findings and provides an operation system, a processing device, and an error acquisition method that can increase the likelihood of correctly acquiring an error. [Means for solving the problem]

[0008] One work system disclosed herein 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, and comprises an error acquisition device that, when the processing device is attached to the work device, acquires the position error of the processing device relative to the work device based on contact with a reference part provided on the work device, and an operation control device that controls the error acquisition device, and the operation control device comprises an acquisition operation execution unit that causes the error acquisition device to execute the error acquisition operation, and a success / failure judgment unit that judges whether the correct error was acquired, and if the success / failure judgment unit determines that the correct error could not be acquired, the acquisition operation execution unit changes the operating conditions and executes the error acquisition operation.

[0009] One processing device disclosed herein 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 an error acquisition device that, when the processing device is attached to the work device, acquires the position error of the processing device relative to the work device based on contact with a reference part provided on the work device, and an operation control device that controls the error acquisition device, and the operation control device is equipped with an acquisition operation execution unit that causes the error acquisition device to execute the error acquisition operation, and a success / failure judgment unit that judges whether the correct error was acquired, and if the success / failure judgment unit determines that the correct error could not be acquired, the acquisition operation execution unit changes the operating conditions and executes the error acquisition operation.

[0010] One error acquisition method disclosed herein is an error acquisition method for a work system that includes 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, and the processing device is equipped with an error acquisition device that, when attached to the work device, acquires a position error of the processing device relative to the work device based on contact with a reference part provided on the work device, wherein an acquisition operation execution unit causes the error acquisition device to execute the error acquisition operation, and a success / failure judgment unit judges whether the correct error was successfully acquired, and if the success / failure judgment unit determines that the correct error was not successfully acquired, the acquisition operation execution unit changes the operating conditions and executes the error acquisition operation. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to improve the probability of obtaining a correct error when a processing device is attached to a work device. [Brief explanation of the drawings]

[0012] [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] 10 is a graph showing the relationship between reference motion speed information and acquired motion speed information. [Figure 8] 10 is a flowchart showing the flow of processing by the error acquisition device. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the operation system, processing device, and error acquisition method according to the present disclosure will be described with reference to the drawings. Note that the following embodiments are presented as examples to explain the present disclosure and are not intended to limit the present disclosure. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical formulas, the content of each step in the method, and the order of each step shown in the following embodiments are examples and may include content not described below. Furthermore, while geometric expressions such as parallel and orthogonal may be used, these expressions do not indicate mathematical precision and include substantially acceptable errors, deviations, etc. Furthermore, expressions such as simultaneous and identical also include substantially acceptable ranges.

[0014] The drawings are schematic diagrams in which emphasis, omission, or adjustment of proportions has been appropriately made to explain the present disclosure, 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 illustrating 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.

[0015] In addition, multiple inventions may be collectively described below as one embodiment, and some of the content described below may be described as optional components related to the present disclosure.

[0016] 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.

[0017] 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.

[0018] In this embodiment, the operating device 110 is equipped with a reference part 111 that indicates the position and posture of the operating device 110. The shape and structure of the reference part 111 are not limited. The reference part 111 may be part of a structural member that constitutes the operating device 110, or it 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, the top or bottom surface of the reference part 111 is preferably parallel to a horizontal plane (the XY plane in the figure), and at least one of the side surfaces of the reference part 111 is preferably parallel to a vertical plane (the YZ plane in the figure).

[0019] 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.

[0020] In the present embodiment, processing device 130 comprises main body 131 that performs processing on attached working device 110 guided by guide member 150, cart 132 that supports main body 131 and is transported on floor surface 300, connecting portion 133 that connects main body 131 and cart 132, and error acquiring device 140 that acquires errors in the position and attitude of processing device 130 relative to working device 110 when processing device 130 is attached to working device 110. In the present embodiment, processing device 130 comprises elastic member 135, vibration damper 136, and guided member 160.

[0021] 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. The automatic guided vehicle 200 allows the processing device 130 to move in any direction, and is also capable of changing direction and rotating (pivoting) at the same position.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 5, tapered surfaces 153 that gradually move away from each other toward the tip (on the processing device 130 side) of the pair of first parts 151 are provided. 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] In this embodiment, guided member 160 includes contact portion 161 that directly contacts guide member 150, holding portion 162 that holds contact portion 161, and locked portion 163 that contacts locking 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).

[0034] 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 present 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, the pairs being 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 spaced apart from each other 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 present embodiment, each of the guided members 160 has two pairs of roller-shaped contact portions 161 arranged side by side in the vertical direction, the pairs being spaced apart from each other in the attachment / detachment direction. In other words, the four contact portions 161 arranged at the vertices of a rectangle on the guided member 160 can correct the posture of the main body 131 in both the roll direction and the yaw direction by contacting the plate-shaped first portion 151. The portions of the first portion 151 that come into contact with the plurality of contact portions 161 function as roll guide portions and yaw guide portions.

[0035] 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 come into contact with the locking portions 152 at two locations 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 comes into soft contact with 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.

[0036] In this embodiment, as a pair of guided members 160 are guided by a pair of guide members 150, large errors do not occur in the width direction (X-axis direction in the figure), roll axis (around Y-axis in the figure), or yaw axis (around Z-axis in the figure), but small errors do occur. Also, errors in the attachment / detachment direction (Y-axis direction in the figure) may occur together with errors in the pitch direction. Errors in the up-down direction (Z-axis direction in the figure) may occur together with errors in the pitch direction and the up-down position of the entire device. A method for acquiring the errors will be described below.

[0037] The error acquisition device 140 is a device that acquires the position error of the processing device 130 in at least one direction relative to the operating device 110 when the processing device 130 is attached to the operating 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 is the amount of deviation of the processing device 130 in at least one of the attachment / detachment direction, the up / down direction, the width direction, the yaw direction, the roll direction, and the pitch direction, relative to a state in which the processing device 130 is correctly attached to the operating device 110 (hereinafter, sometimes referred to as the "reference state"). Note that in this embodiment, the error is approximated by the measurement value of the error acquisition device 140.

[0038] In this embodiment, the error acquisition device 140 includes a detection unit 141 and an operating mechanism 104, as shown in FIG. 4, and acquires the error by abutting the detection unit 141 against a reference unit 111 provided on the working device 110.

[0039] Detecting unit 141 is a member whose tip portion comes into contact with the upper surface, lower surface, side surface, or opposing 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 shown below the tip of detecting unit 141 in FIG. 4 and other figures, this protrusion is not an essential component.

[0040] The operating mechanism 104 is a mechanism equipped with an operating motor that operates the detection unit 141. The type of operating mechanism 104 is not limited, but in this embodiment, the operating mechanism 104 is equipped with an advancing / retreating mechanism 142 and a vertical movement mechanism 143.

[0041] The advance / withdrawal mechanism 142 is a mechanism that, when the processing device 130 is attached to the working device 110, causes the detection unit 141 to protrude in the attachment / detachment direction toward the working device 110 and abut against the opposing surface of the reference unit 111. The specific structure of the advance / withdrawal mechanism 142 is not limited, but an example can be a structure that includes a rail extending 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 is one of the operating motors that drive the reciprocating drive mechanism.

[0042] The vertical movement mechanism 143 is a mechanism that, when the processing device 130 is attached to the working device 110 and the detection unit 141 is protruding, moves the detection unit 141 in the vertical direction to bring the detection unit 141 into contact with the upper surface (or lower surface) of 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 extending 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 is one of the operating motors that drives the reciprocating drive mechanism.

[0043] In addition, the operating mechanism 104 including the advance / retract mechanism 142 and the up / down movement mechanism 143 does not have to be a mechanism dedicated to the error acquisition device 140, but may be shared with a mechanism used when the processing device 130 processes the working device 110.

[0044] The movement mechanism 104 may also include a width movement mechanism that moves the detection unit 141 in the width direction. The width movement mechanism may include a width direction motor, which is one of the movement motors.

[0045] Furthermore, when the processing device 130 is tilted in the pitch direction relative to the reference state, the ejection / retraction mechanism 142 deviates slightly from the attachment / detachment direction, and the vertical movement mechanism 143 deviates slightly from the vertical direction, but in this specification and the like, these are consistently referred to as the "attachment / detachment direction" and the "vertical direction."

[0046] 6 is a block diagram showing the functional configuration of the operation control device 144. The operation control device 144 includes a processor, and controls the operation of the error acquisition device 140, particularly the operation mechanism 104, by causing the processor to execute an operation control program. In the case of this embodiment, the operation control device 144 includes an acquisition operation execution unit 171 and a success / failure determination unit 172 as processing units realized by the operation control program.

[0047] The acquisition operation execution unit 171 causes the error acquisition device 140 to execute an operation to acquire an error relative to the reference state. If the success / failure determination unit 172 determines that a correct error could not be acquired, the acquisition operation execution unit 171 changes the operating conditions of the error acquisition device 140 and executes the operation to acquire the error again. The specific operation will be described later.

[0048] The success / failure determination unit 172 determines whether the error acquisition device 140 has successfully acquired the correct error. The method of determination by the success / failure determination unit 172 is not limited. In this embodiment, as shown in FIG. 7 , the success / failure determination unit 172 acquires motion speed information 401 indicating the relationship between the elapsed time of the acquisition operation of the detection unit 141 and the motion speed of the error acquisition device 140, and determines whether the correct error has been acquired based on a comparison between the acquired motion speed information 401 and reference motion speed information 400. For example, the acquisition operation execution unit 171 acquires the angular velocity of the extension / retraction motor of the extension / retraction mechanism 142 at predetermined time intervals and converts it into the protrusion speed (g1-g8) of the detection unit 141. The success / failure determination unit 172 acquires the speed over time from the acquisition operation execution unit 171 and calculates the degree of deviation of the motion speed information 401 from the reference motion speed information 400 by statistically processing the difference between the acquired speed information 401 and the corresponding speed (f1-f8) in the reference motion speed information 400. If the calculated deviation is less than the deviation threshold, the success / failure determination unit 172 determines that the correct error has been acquired, and if the deviation is equal to or greater than the deviation threshold, the success / failure determination unit 172 determines that the correct error has not been acquired. Note that the motion speed information 401 shown in Fig. 7 shows a case where the correct error has not been acquired.

[0049] FIG. 8 is a flowchart showing the processing flow of the error acquisition device 140. When the processing device 130 is attached to the working device 110, the error acquisition device 140 starts operating. The acquisition operation execution unit 171 checks whether the detection unit 141 is located at the start position, and if it is not located at the start position, moves the detection unit 141 to the start position (S101). The start position is a position that serves as a reference for the error to be acquired. Next, an operation for acquiring the error is executed (S102). In this embodiment, as the first operation for acquiring the error, the acquisition operation execution unit 171 operates the extension / retraction motor of the extension / retraction mechanism 142 to protrude the detection unit 141. The acquisition operation execution unit 171 acquires the torque value of the operation motor (extension / retraction motor) at predetermined time intervals and derives the speed of the detection unit 141. The acquisition operation execution unit 171 continues the operation (S102) until the acquired torque value is the target torque value and the speed of the detection unit 141 is 0, that is, until the detection unit 141 comes into contact with the opposing surface of the reference unit 111 and stops (S103, Yes).

[0050] Next, the success / failure determination unit 172 obtains motion speed information 401 indicating the state of change in the motion speed of the detection unit 141 obtained over time from the acquisition operation execution unit 171, and determines whether the correct error has been obtained based on a comparison between the obtained motion speed information 401 and the reference motion speed information 400. If the motion speed information 401 does not deviate significantly from the reference motion speed information 400, it determines that the correct error has been obtained and ends the operation of obtaining the error in the attachment / detachment direction (S104, Yes).

[0051] If the success / failure determination unit 172 determines that the correct error has not been acquired (S104, No), the acquisition operation execution unit 171 changes the operating conditions of the operating mechanism 104 (S105). The method for changing the operating conditions is not limited. In this embodiment, the operating conditions are changed to increase the torque of the operating motor (extension / retraction motor). If the changed operating conditions are not at the change limit (S106, No) (in this embodiment, if the changed torque is smaller than the rated torque of the operating motor (extension / retraction motor)), the detection unit 141 is returned to the start position (S101) and the same process is repeated. As a result, even if unexpected friction occurs in the extension / retraction mechanism 142 of the error acquisition device 140, the detection unit 141 operates correctly once the torque is increased to a certain extent, and the success / failure determination unit 172 determines that the error has been acquired (S104, Yes), and the process ends. On the other hand, if the torque after the change exceeds the rated torque of the operating motor (entrance / retraction motor) (S106, Yes), an error is reported and the error acquisition operation is stopped.

[0052] It should be noted that the present disclosure is not limited to the above-described embodiments. For example, the present disclosure may be embodied in another embodiment realized by any combination of the components described in this specification or by excluding some of the components. Furthermore, the present disclosure also includes modifications obtained by applying various modifications to the above-described embodiments that would occur to a person skilled in the art without departing from the spirit of the present disclosure, i.e., the meaning of the wording of the claims.

[0053] For example, the acquisition operation execution unit 171 of the operation control device 144 may detect contact based on a change in the load of the operation motor when the detection unit 141 comes into contact with the reference unit 111 and the operation of the detection unit 141 stops.

[0054] Furthermore, the success / failure determination unit 172 may determine whether the correct error has been obtained based on a comparison between the reference load information and load information indicating the relationship between the elapsed time of the obtaining operation of the detection unit 141 and the load on the operating motor.

[0055] In addition, in the above embodiment, the case where the advancing / retracting mechanism 142 is operated to bring the detection unit 141 into contact with the opposing surface of the reference unit 111 and acquire the error in the attachment / detachment direction is described, but the error acquisition device 140 may also perform similar operations when acquiring errors in the up / down direction, width direction, yaw direction, roll direction, and pitch direction.

[0056] Furthermore, implementing a program corresponding to each process executed by the operation control device 144 also constitutes an embodiment of the present disclosure. Of course, implementing a recording medium on which the program is recorded also constitutes an embodiment of the present disclosure.

[0057] Furthermore, although the degree of freedom of tilting of the carriage 132 relative to the main body 131 has been described as being limited to rolling, the degree of freedom of tilting of the carriage 132 may exist in two or more directions.

[0058] 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.

[0059] (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, and comprises an error acquisition device 140 that, when the processing device 130 is attached to the work device 110, acquires the position error of the processing device 130 relative to the work device 110 based on contact with a reference part 111 that the work device 110 is equipped with, and an operation control device 144 that controls the error acquisition device 140, and the operation control device 144 comprises an acquisition operation execution unit 171 that causes the error acquisition device 140 to execute an error acquisition operation, and a success / failure judgment unit 172 that judges whether the correct error has been acquired, and if the success / failure judgment unit 172 determines that the correct error has not been acquired, the acquisition operation execution unit 171 changes the operation conditions and executes the error acquisition operation.

[0060] According to the first aspect, when processing device 130 is attached to working device 110, even if, for example, processing device 130 is tilted, causing friction in operating mechanism 104, it is possible to acquire with a high probability the error in the position and attitude of processing device 130 relative to the reference state. Therefore, it is possible to avoid the processing device 130 processing working device 110 based on inaccurate error information, which could result in mechanical damage or a significant decrease in quality.

[0061] The second aspect of the work system 100 includes the first aspect, and the success / failure determination unit 172 acquires operation speed information 401 indicating the relationship between the elapsed time of the acquisition operation and the operation speed of the error acquisition device 140, and determines whether the correct error was acquired based on a comparison between the acquired operation speed information 401 and the reference operation speed information 400.

[0062] According to the second aspect, it is possible to accurately determine whether or not the error has been acquired.

[0063] The third aspect of the work system 100 includes the first aspect or the second aspect, and the error acquisition device 140 includes a detection unit 141 that contacts the reference unit 111 and an operating motor that operates the detection unit 141. If the success / failure determination unit 172 determines that the correct error could not be acquired, the acquisition operation execution unit 171 changes the operating conditions to increase the torque of the operating motor and executes the error acquisition operation.

[0064] According to the third aspect, the detection unit 141 can be operated by a torque that can withstand friction within the operating mechanism generated by, for example, the tilt of the processing device 130, and errors in the position and attitude of the processing device 130 relative to the reference state can be obtained with a high probability.

[0065] The fourth aspect of the working system 100 includes any of the first to third aspects, and the operation control device 144 detects contact based on a change in the load of the operation motor when the detection unit 141 contacts the reference unit 111.

[0066] According to the fourth aspect, the state in which the detection portion 141 abuts on the reference portion 111 can be detected by the load rather than the speed.

[0067] The processing device 130 of the fifth aspect 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 an error acquisition device 140 that, when the processing device 130 is attached to the work device 110, acquires the position error of the processing device 130 relative to the work device 110 based on contact with a reference part 111 that the work device 110 is equipped with, and an operation control device 144 that controls the error acquisition device 140, and the operation control device 144 is equipped with an acquisition operation execution unit 171 that causes the error acquisition device 140 to execute an error acquisition operation, and a success / failure judgment unit 172 that judges whether the correct error was successfully acquired, and if the success / failure judgment unit 172 determines that the correct error could not be acquired, the acquisition operation execution unit 171 changes the operating conditions and executes the error acquisition operation.

[0068] According to the fifth aspect, when processing device 130 is attached to working device 110, even if, for example, processing device 130 is tilted, causing friction in operating mechanism 104, it is possible to acquire with a high probability the error in the position and attitude of processing device 130 relative to the reference state. Therefore, it is possible to avoid the processing device 130 processing working device 110 based on inaccurate error information, which could result in mechanical damage or a significant decrease in quality.

[0069] The sixth aspect of the error acquisition method is an error acquisition method for a work system 100, which includes 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, and the processing device 130 is attached to the work device 110 and includes an error acquisition device 140 that acquires the position error of the processing device 130 relative to the work device 110 based on contact with a reference part 111 that the work device 110 is equipped with, wherein an acquisition operation execution unit 171 causes the error acquisition device 140 to execute an error acquisition operation, and a success / failure determination unit 172 determines whether the correct error was successfully acquired, and if the success / failure determination unit 172 determines that the correct error was not acquired, the acquisition operation execution unit 171 changes the operating conditions and executes the error acquisition operation.

[0070] According to the sixth aspect, when the processing device 130 is attached to the working device 110, even if, for example, the processing device 130 is tilted, causing friction in the operating mechanism 104, it is possible to acquire with a high probability the error in the position and attitude of the processing device 130 relative to the reference state. Therefore, it is possible to avoid the processing device 130 processing the working device 110 based on inaccurate error information, which could result in mechanical damage or a significant decrease in quality. [Industrial Applicability]

[0071] The present disclosure is applicable to processing devices that travel on a floor on which a work line made up of work devices is installed and perform work on the attached work devices, and to work systems that include such processing devices. [Explanation of symbols]

[0072] 100 Work Systems 103 Connecting shaft body 104 Operating mechanism 110 Work equipment 111 Reference section 130 Processing equipment 131 Main body 132 Cart 133 Connecting part 135 Elastic member 136 Vibration damper 137 Wheels 138 Main body connection part 139 Bogie connection part 140 Error acquisition device 141 Detection unit 142 Exit / exit mechanism 143 Vertical movement mechanism 144 Motion control device 150 Guide member 151 Part 1 152 Locking part 153 Tapered surface 160 Guided member 161 Contact part 162 Holding part 163 Locked part 171 Acquisition operation execution unit 172 Success / Failure Judgment Department 200 Automated Guided Vehicle 300 floor 400 Reference operating speed information 401 Operating speed information

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, an error acquiring device that acquires a position error of the processing device relative to the working device based on contact with a reference portion provided on the working device when the processing device is attached to the working device; an operation control device that controls the error acquisition device, The operation control device includes: an acquisition operation execution unit that causes the error acquisition device to execute an operation of acquiring the error; a success / failure determination unit that determines whether a correct error has been obtained; The acquisition operation execution unit If the success / failure determination unit determines that the error could not be correctly acquired, the operation conditions are changed and the error acquisition operation is executed. Working system.

2. The success / failure determination unit Acquires motion speed information indicating the relationship between the elapsed time of the acquisition operation and the motion speed of the error acquisition device, and judges whether or not a correct error has been acquired based on a comparison between the acquired motion speed information and reference motion speed information. The work system according to claim 1 .

3. The error acquisition device a detection unit that contacts the reference unit; an operating motor that operates the detection unit, The acquisition operation execution unit If the success / failure determination unit determines that the error could not be correctly acquired, the operation conditions are changed to increase the torque of the operation motor, and the error acquisition operation is executed. The work system according to claim 1 or 2.

4. The motion control device includes: The contact is detected based on a change in the load of the operating motor when the detection unit comes into contact with the reference unit. The work system according to claim 3 .

5. 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, an error acquiring device that acquires a position error of the processing device relative to the working device based on contact with a reference portion provided on the working device when the processing device is attached to the working device; an operation control device that controls the error acquisition device, The operation control device includes: an acquisition operation execution unit that causes the error acquisition device to execute an operation of acquiring the error; a success / failure determination unit that determines whether a correct error has been obtained; The acquisition operation execution unit If the success / failure determination unit determines that the error could not be correctly acquired, the operation conditions are changed and the error acquisition operation is executed. Processing equipment.

6. An error acquisition method for 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 processing device is equipped with an error acquisition device that, when attached to the work device, acquires a position error of the processing device relative to the work device based on contact with a reference part provided on the work device, an acquisition operation execution unit causes the error acquisition device to execute the error acquisition operation; A success / failure determination unit determines whether the correct error has been obtained, When the success / failure determination unit determines that a correct error has not been obtained, the acquisition operation execution unit: Change the operating conditions and execute the error acquisition operation. Error acquisition method.

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