Conveying device

Abstract

To provide a conveying device capable of increasing a conveyable length with a simple and compact constitution.SOLUTION: A transfer device transfers a workpiece (W) from a predetermined desktop robot (2), which drives the workpiece (W) and a tool (T) to perform work on the workpiece (W) with the tool (T), to another device (12), and includes a movable transfer unit (21) attachable to and detachable from a workpiece driver (6) of the desktop robot (2), wherein a transfer direction (D1) of the workpiece (W) by the movable transfer unit (21) is the same as a drive direction (D2) of the movable transfer unit (21) by the workpiece driver (6).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transfer device that transfers a workpiece from a predetermined tabletop robot to another device. [Background technology]

[0002] Conventionally, small Cartesian robots known as tabletop robots have been known that are equipped with a three-way linear motion mechanism to linearly drive the tool in two directions and the workpiece in one direction, thereby moving the tool and workpiece relative to each other in three dimensions, and perform various tasks on the workpiece, such as assembly, screw tightening, coating, board cutting, soldering, etc. These tabletop robots are highly accurate yet, as their name suggests, small enough to be mounted on a desk, so they are often used in production equipment for high-mix, low-volume production, or as so-called collaborative robots that work in collaboration with workers. On the other hand, in recent years, due to the increasing demand for automation and the increasing complexity of work, multiple desktop robots are often linked together to form what are known as fully automatic or semi-automatic devices. For example, Patent Document 1 proposes a structure of a tabletop robot equipped with a moving axis unit (moving axis unit 10) that is so long that it protrudes beyond the tabletop robot body, and this moving axis unit can be replaced with one of a desired length. Also, Patent Document 2 proposes a structure of a work device that transports a workpiece using a transport device (transport unit 30) that extends over the entire X direction of the tabletop robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-82042 [Patent Document 2] Japanese Patent Application Laid-Open No. 2011-50831 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the conveying device in Patent Document 1 has a complex structure because a new moving axis unit must be prepared every time the production line is changed, making it unsuitable as production equipment for small-lot, multi-product production. Furthermore, in the transport device of Patent Document 2, the overall length of the transport device is the length that the workpiece can be transported (transport line length), so the transport device is large.

[0005] In view of the above problems, an object of the present invention is to realize a conveying device that can increase the conveyable length with a simple and compact configuration. [Means for solving the problem]

[0006] The present invention relates to a transport device that transports a workpiece from a specified tabletop robot that drives a workpiece and a tool, respectively, to another device, and that is equipped with a movable transport unit that can be attached to and detached from the workpiece drive unit of the tabletop robot, and the transport direction of the workpiece by the movable transport unit is the same as the drive direction of the movable transport unit by the workpiece drive unit. [Effects of the Invention]

[0007] According to the transport device of the present invention, the direction in which the workpiece is transported by the movable transport unit is the same as the direction in which the movable transport unit is driven by the work drive unit of the desktop robot, so the amount of movement of the movable transport unit by the work drive unit can be included in the length of workpieces that can be transported by the transport device. As a result, a transport device that can increase the length of transport can be realized with a simple and compact configuration. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view showing an automated device including a conveying device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view showing a fixed transport unit. [Figure 3] FIG. 2 is an exploded perspective view of the fixed transport unit. [Figure 4]FIG. 2 is a perspective view showing a first movable transport unit. [Figure 5] FIG. 2 is an exploded perspective view of a first movable transport unit. [Figure 6] FIG. 1 is a block diagram of an automated device. [Figure 7] FIG. [Figure 8] FIG. 10 is a perspective view showing a state in which a workpiece is being transported. [Figure 9] FIG. 10 is a perspective view showing a state in which the conveyance by the conveyance device is completed. [Figure 10] FIG. 10 is a perspective view showing an automated device including a conveying device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of a conveying device according to the present invention will be described below with reference to the drawings. For convenience, the following description will be made in terms of right, left, front, rear, top, bottom, and X, Y, and Z directions shown in the drawings.

[0010] [First embodiment] FIG. 1 is a perspective view showing an automated device 1 equipped with a conveying device 20 which is an embodiment of a conveying device according to a first embodiment of the present invention. The automatic device 1 is configured to include a tabletop robot 2 (a specified tabletop robot), another tabletop robot 12 (another device) placed in front of the tabletop robot 2, and a transport device 20 that transports a workpiece W from the tabletop robot 2 to the other tabletop robot 12.

[0011] The tabletop robot 2 comprises a base 3 as the housing of the tabletop robot 2, a column 4 extending above the base 3 from one of the left and right sides, and an arm 5 extending from the top of the column 4 to the other of the left and right sides.

[0012] The desktop robot 2 also includes a work table 6 (work driving unit) that is slidable on the top surface of the base 3 in the front-rear direction (X-axis direction). Furthermore, the tabletop robot 2 is equipped with a Y unit 7 that is attached to the arm 5 and can slide left and right (in the Y-axis direction), a Z unit 8 that is supported by the Y unit 7 and can move up and down (in the Z-axis direction), an operation unit 9a that is used to operate the automatic device 1, and a display unit 9b that displays the operating status of the automatic device 1, etc.

[0013] Various types of workpieces W can be attached to the workpiece table 6. Here, the workpiece W is held by the workpiece table 6 via a first movable transport unit 21. The first movable transport unit 21 will be described later. A tool T such as an applicator, a pressure tool, a screw driver, or a soldering iron can be attached to the lower end of the Z unit 8. Therefore, with the desktop robot 2, the tool T can be driven two-dimensionally by combining the left-right drive of the Y unit 7 and the up-down drive of the Z unit 8. Furthermore, by adding the drive in the forward and backward directions by the work table 6, the workpiece W and the tool T can be moved relative to each other three-dimensionally, and the tool T can perform work on the workpiece W.

[0014] Another tabletop robot 12 comprises a base 13 as a housing for the other tabletop robot 12, a column 14 extending above the base 13 from one of the left and right sides, and an arm 15 extending from the top of the column 14 to the other of the left and right sides.

[0015] Another desktop robot 12 is provided with a work table 16 that is slidable on the top surface of the base 13 in the front-rear direction (X-axis direction). Furthermore, another tabletop robot 12 is equipped with a Y unit 17 attached to the arm 15 and capable of sliding in the left-right direction (Y-axis direction), and a Z unit 18 supported by the Y unit 17 and capable of moving in the up-down direction (Z-axis direction).

[0016] Various types of workpieces W can be attached to the workpiece table 16. Here, the workpiece W is held by the workpiece table 16 via a second movable transport unit 22. The second movable transport unit 22 will be described later. A tool T can be attached to the lower end of the Z unit 18. According to another tabletop robot 12, similar to the tabletop robot 2, the workpiece W and the tool T can be moved relative to each other in three dimensions by driving the Y unit 17, the Z unit 18, and the work table 16, and work can be performed on the workpiece W by the tool T.

[0017] In this embodiment, as an example, the workpiece W is a printed circuit board, the tool T of the tabletop robot 2 is a coating device, and the tool T of the other tabletop robot 12 is a soldering iron.

[0018] The conveying device 20 comprises a first movable conveying unit 21 attached to the work table 6 of the tabletop robot 2, a second movable conveying unit 22 attached to the work table 16 of another tabletop robot 12, and a fixed conveying unit 23 provided between the tabletop robot 2 and the other tabletop robot 12. The first movable transport unit 21, the fixed transport unit 23, and the second movable transport unit 22 transport the workpiece W in the front-to-back direction (X-axis direction). That is, the transport direction D1 of the workpiece W of the transport device 20 is the front-to-back direction (X-axis direction), which is the same as the movement direction of the workpiece tables 6 and 16. In addition, the left-to-right direction (Y-axis direction) perpendicular to the transport direction D1 is the width direction of the workpiece W.

[0019] Fig. 2 is a perspective view showing the fixed transport unit 23. Fig. 3 is an exploded perspective view of the fixed transport unit 23. The fixed transport unit 23 is disposed between the first movable transport unit 21 and the second movable transport unit 22 in the transport direction D1, and transports the workpiece W from the first movable transport unit 21 to the second movable transport unit 22. The fixed transport unit 23 is attached to the side (rear) of the base 13 of another tabletop robot 12 via a bracket 19.

[0020] A bracket 19 is fastened to the rear surface of the base 13 of another tabletop robot 12 by a bracket fastener 19a. The bracket 19 has a plurality of fixing holes 19b formed in its upper surface.

[0021] The fixed conveying unit 23 comprises a fixed side frame 25 that serves as the base of the fixed conveying unit 23, a pair of drive side conveying belt units 26 provided on the left and right, and a connecting member 27 that connects the pair of drive side conveying belt units 26 on the left and right. The fixed conveying unit 23 also includes a drive section 28 that drives the drive side conveying belt unit 26, a pair of left and right front connecting rollers 29 provided at the front end of the fixed conveying unit 23, and a pair of left and right rear connecting rollers 30 (drive force transmission section) provided at the rear end of the fixed conveying unit 23.

[0022] The fixed frame 25 includes a plate-shaped frame bottom wall portion 25a disposed substantially horizontally, and a pair of vertical wall portions 25b erected upward from one end and the other end of the frame bottom wall portion 25a. In detail, the fixed side frame 25 is formed by assembling a one-side conveying frame 31 having a frame bottom wall portion 25a and one vertical wall portion 25b, and an other-side conveying frame 32 that forms the other vertical wall portion 25b. The other-side conveying frame 32 includes a bottom portion 32a extending in the front-rear direction along the upper surface of the frame bottom wall portion 25a, and a wall portion 32b extending upward from the bottom portion 32a.

[0023] A plurality of elongated holes 25c are provided in the front and rear of the other left and right end portions of the frame bottom wall portion 25a, penetrating the frame bottom wall portion 25a and extending long in the left-right direction (Y-axis direction). The other-side conveying frame 32 is fixed onto the frame bottom wall portion 25a by a plurality of fasteners 25d that are inserted into the elongated holes 25c from below and fastened to the bottom portion 32a. When the fixed side frame 25 is viewed from above, the pair of vertical wall portions 25b extend linearly in the front-to-rear direction (X-axis direction) parallel to each other, spaced apart from each other in the width direction (Y-axis direction) of the workpiece W.

[0024] The fixed transport unit 23 is placed on the bracket 19 at the frame bottom wall portion 25a. The fixed transport unit 23 is detachably fixed to the bracket 19 by fixed transport unit fasteners 33 that are inserted from above into holes in the frame bottom wall portion 25a and fastened to fixing holes 19b.

[0025] The drive-side conveyor belt units 26 are provided in pairs separated in the width direction of the workpiece W, and are provided on the inner surfaces of the pair of vertical wall portions 25b, respectively.

[0026] The drive side conveying belt unit 26 includes a front roller 26a provided at the upper and front end of the vertical wall portion 25b, a rear roller 26b provided at the upper and rear end of the vertical wall portion 25b, a lower roller 26c provided at the lower part of the vertical wall portion 25b and between the front roller 26a and the rear roller 26b, an endless conveying belt 26d wound around the front roller 26a, the rear roller 26b, and the lower roller 26c, a front roller shaft member 34 supporting the front roller 26a, and a rear roller shaft member 35 supporting the rear roller 26b.

[0027] The connecting member 27 is a shaft that extends in the left-right direction and connects the pair of vertical wall portions 25b together. The connecting member 27 is inserted into and supported by holes in each of the vertical wall portions 25b, and is rotatable. The pair of lower rollers 26c are fixed to one end and the other end of the connecting member 27, respectively, and are rotatable integrally with the connecting member 27.

[0028] The front roller shaft member 34 is formed in a roughly U-shape and includes a front roller shaft 34a that is inserted in the left-right direction relative to the front roller 26a and supports the front roller 26a so as to be able to rotate freely, a front connecting roller shaft 34b that extends parallel to the front roller shaft 34a and below and in front of the front roller shaft 34a, and a connecting portion 34c that connects the outer end of the front roller shaft 34a with the outer end of the front connecting roller shaft 34b. The front roller shaft member 34 is fixed to the vertical wall portion 25b via the front roller shaft 34a inserted through a hole in the vertical wall portion 25b. The connecting portion 34c is disposed outside the vertical wall portion 25b in the left-right direction.

[0029] The front connecting roller 29 is supported by the front connecting roller shaft 34b and is rotatable around the front connecting roller shaft 34b. The front connecting roller 29 is located below and in front of the front roller 26a, and the conveyor belt 26d is sandwiched between the front connecting roller 29 and the front roller 26a. Therefore, when the conveyor belt 26d rotates, the front connecting roller 29 also rotates.

[0030] The rear roller shaft member 35 is formed in a roughly U-shape and includes a rear roller shaft 35a that is inserted in the left-right direction relative to the rear roller 26b and supports the rear roller 26b so as to be able to rotate freely, a rear connecting roller shaft 35b that extends parallel to the rear roller shaft 35a and below the rear roller shaft 35a, and a connecting portion 35c that connects the outer end of the rear roller shaft 35a with the outer end of the rear connecting roller shaft 35b. The rear roller shaft member 35 is fixed to the vertical wall portion 25b via the rear roller shaft 35a inserted through a hole in the vertical wall portion 25b. The connecting portion 35c is disposed outside the vertical wall portion 25b in the left-right direction.

[0031] The rear connecting roller 30 is supported by a rear connecting roller shaft 35b and is rotatable around the rear connecting roller shaft 35b. The rear connecting roller 30 is located below and behind the rear roller 26b, and the conveyor belt 26d is sandwiched between the rear connecting roller 30 and the rear roller 26b. Therefore, when the conveyor belt 26d rotates, the rear connecting roller 30 also rotates.

[0032] The drive unit 28 includes a conveying motor 28a and a reduction gear 28b that meshes with the gear on the rotation shaft of the conveying motor 28a. The transport motor 28a is fixed to the frame bottom wall portion 25a. The reduction gear 28b is fixed to the connection member 27 and rotates integrally with the connection member 27, which is a shaft.

[0033] When the conveying motor 28a rotates, the rotation of the conveying motor 28a is transmitted to the conveying belt 26d via the reduction gear 28b, the connecting member 27, and the lower roller 26c, and the conveying belt 26d is rotated by the driving force of the conveying motor 28a. The front roller 26a and the rear roller 26b are driven rollers that are rotated by the conveying belt 26d.

[0034] The elongated holes 25c and the fasteners 25d constitute a belt interval change mechanism 36 that can change the interval between the pair of left and right conveyor belts 26d in the width direction of the workpiece W (left and right direction). More specifically, when the fastening of the other-side transport frame 32 by the fasteners 25d is loosened, the other-side transport frame 32 can be moved in the width direction of the workpiece W along the elongated holes 25c. By moving the other-side transport frame 32 in the width direction of the workpiece W, the right-side transport belt 26d can be moved integrally with the other-side transport frame 32 in the width direction of the workpiece W, and the spacing between the left and right transport belts 26d can be changed. After the spacing between the transport belts 26d has been changed, the fasteners 25d are retightened.

[0035] Fig. 4 is a perspective view showing the first movable transport unit 21. Fig. 5 is an exploded perspective view of the first movable transport unit 21. The first movable conveying unit 21 comprises a movable side frame 40 which serves as the base of the first movable conveying unit 21, a pair of driven side conveying belt units 41 arranged on the left and right, a pair of left and right work holding mechanisms 42 which regulate the movement of the work W in the conveying direction D1, and a work sensor 43 which detects the work W.

[0036] The movable side frame 40 comprises a plate-shaped movable side frame bottom wall portion 40a arranged approximately horizontally, and a pair of movable side vertical wall portions 40b erected upward from one end and the other end of the movable side frame bottom wall portion 40a on the left and right sides. In detail, the movable side frame 40 is formed by assembling a one-side conveying frame 45 having a movable side frame bottom wall portion 40a and one movable side vertical wall portion 40b, and an other-side conveying frame 46 that constitutes the other movable side vertical wall portion 40b. The other-side conveying frame 46 includes a bottom portion 46a extending in the front-rear direction along the upper surface of the movable-side frame bottom wall portion 40a, and a wall portion 46b extending upward from the bottom portion 46a.

[0037] A plurality of elongated holes 40c are provided in the front and rear of the other left and right ends of the movable-side frame bottom wall portion 40a, penetrating the movable-side frame bottom wall portion 40a and extending long in the left-right direction (Y-axis direction). The other-side conveying frame 46 is fixed onto the movable-side frame bottom wall portion 40a by a plurality of fasteners 40d that are inserted into the elongated holes 40c from below and fastened to the bottom portion 46a. When the movable side frame 40 is viewed from above, the pair of movable side vertical wall portions 40b extend linearly in the front-to-back direction (X-axis direction) parallel to each other, spaced apart from each other in the width direction (Y-axis direction) of the workpiece W. Furthermore, the pair of movable-side vertical wall portions 40b are provided with holding ribs 40e that extend inward in the left-right direction from the front-rear intermediate portion of the movable-side vertical wall portions 40b at the upper portions of the movable-side vertical wall portions 40b. The holding ribs 40e are substantially horizontal plate-shaped portions.

[0038] The first movable transport unit 21 is placed on the upper surface of the work table 6 with the movable frame bottom wall portion 40a. A plurality of fixing holes 6a are provided in the upper surface of the work table 6. The first movable transport unit 21 is detachably fixed to the work table 6 by a plurality of movable transport unit fasteners 47 that are inserted from above into holes in the movable frame bottom wall portion 40a and fastened to the fixing holes 6a. The first movable transport unit 21 is driven in the front-to-rear direction (X-axis direction) by the work table 6.

[0039] The driven-side conveyor belt units 41 are provided as a pair separated in the width direction of the workpiece W, and are provided on the inner surfaces of the pair of movable-side vertical wall portions 40b, respectively.

[0040] The driven side conveying belt unit 41 includes a front roller 41a provided at the upper and front end of the movable side vertical wall portion 40b, a rear roller 41b provided at the upper and rear end of the movable side vertical wall portion 40b, an endless conveying belt 41c wound around the front roller 41a and the rear roller 41b, a front roller shaft member 48 supporting the front roller 41a, and a rear roller shaft member 49 supporting the rear roller 41b. The driven conveyor belt unit 41 is driven by the driving force of the drive section 28 transmitted via the drive conveyor belt unit 26 and the rear connecting roller 30 (FIGS. 2 and 3).

[0041] The front roller shaft member 48 is a linear shaft extending in the left-right direction, and is fixed to a hole provided in the movable-side vertical wall portion 40b. The front roller shaft member 48 includes a front roller shaft 48a that is inserted in the left-right direction through the front roller 41a and supports the front roller 41a so that it can rotate freely, and a retaining arm support shaft 48b that protrudes outward in the left-right direction from the movable side vertical wall portion 40b.

[0042] The rear roller shaft member 49 is a linear shaft extending in the left-right direction, and is fixed to a hole provided in the movable-side vertical wall portion 40b. The rear roller shaft member 49 includes a rear roller shaft 49a that is inserted in the left-right direction through the rear roller 41b and supports the rear roller 41b rotatably, and a retaining arm support shaft 49b that protrudes outward in the left-right direction from the movable side vertical wall portion 40b.

[0043] The workpiece holding mechanisms 42 are provided on the left and right movable-side vertical wall portions 40b, respectively. The work holding mechanism 42 is configured to include a front holding arm 51 rotatably supported by the front holding arm support shaft 48b, a front biasing member (not shown) that biases the front holding arm 51, a rear holding arm 52 rotatably supported by the rear holding arm support shaft 49b, a rear biasing member (not shown) that biases the rear holding arm 52, and a holding rib 40e.

[0044] The front support arm 51 comprises a rotating portion 51a through which the support arm support shaft 48b is inserted and which serves as the center of rotation, a release arm portion 51b extending downward and forward from the rotating portion 51a, and a support arm portion 51c extending rearward from the rotating portion 51a. A plate-shaped deregulation portion 51d is provided at the front end of the release arm portion 51b, and is located forward of the front end of the movable-side vertical wall portion 40b.

[0045] A plate-shaped holding portion 51e extending inward in the left-right direction is provided on the upper portion of the holding arm portion 51c. Furthermore, a connecting gear 51f is provided on the arc-shaped rear edge of the holding arm portion 51c, and is connected to the rear holding arm 52. The connecting gear 51f is a fan-shaped gear portion when viewed in the axial direction of the holding arm support shaft 48b.

[0046] The rear support arm 52 comprises a rotating portion 52a through which the support arm support shaft 49b is inserted and which serves as the center of rotation, a release arm portion 52b extending rearward and downward from the rotating portion 52a, and a support arm portion 52c extending forward from the rotating portion 52a. A plate-shaped deregulation portion 52d is provided at the rear end of the release arm portion 52b, and is located rearward of the rear end of the movable-side vertical wall portion 40b.

[0047] A plate-shaped holding portion 52e extending inward in the left-right direction is provided on the upper portion of the holding arm portion 52c. Additionally, a connecting gear 52f is provided on the arc-shaped front edge of the holding arm portion 52c, which meshes with a connecting gear 51f of the front holding arm 51. The connecting gear 52f is a fan-shaped gear portion when viewed in the axial direction of the holding arm support shaft 49b.

[0048] The front holding arm 51 and the rear holding arm 52 are connected to each other by connecting gears 51f and 52f, and thus rotate in conjunction with each other. For example, when the front holding arm 51 rotates in a direction that moves the holding portion 51e upward, this rotation is transmitted to the rear holding arm 52 via the connecting gears 51f and 52f, and the rear holding arm 52 rotates in a direction that moves the holding portion 52e upward. In other words, the holding portions 51e and 52e move upward (in the same direction) together.

[0049] The holding portion 51e and the holding portion 52e overlap the conveyor belt 41c from above at the front-rear intermediate portion. The holding rib 40e of the movable-side vertical wall portion 40b is provided between the upper and lower portions of the conveyor belt 41c and adjacent to the upper portion, and overlaps the holding portions 51e and 52e from below.

[0050] The front-side biasing member biases the front-side holding arm 51 in a rotation direction (the direction of the arrow in FIG. 5) in which the holding portion 51e abuts against the upper portion of the conveyor belt 41c from above. In other words, the front-side biasing member biases the front-side holding arm 51 so that the holding portion 51e moves downward. The rear biasing member biases the rear holding arm 52 in a rotation direction (the direction of the arrow in FIG. 5) in which the holding portion 52e abuts against the upper portion of the conveyor belt 41c from above. That is, the rear biasing member biases the rear holding arm 52 so that the holding portion 52e moves downward. The front biasing member and the rear biasing member are, for example, torsion coil springs or compression coil springs.

[0051] The work holding mechanism 42 restricts the movement of the work W and the conveying belt 41c in the conveying direction D1 by clamping the work W and the conveying belt 41c between the holding portions 51e, 52e and the holding rib 40e using the biasing forces of the front biasing member and the rear biasing member.

[0052] When the restriction release portion 51d of the front holding arm 51 is pressed rearward, the front holding arm 51 and the rear holding arm 52 rotate in a direction in which the holding portions 51e, 52e move upward against the biasing forces of the front biasing member and the rear biasing member. As a result, the holding portions 51e, 52e move upward away from the workpiece W, and the restriction on the movement of the workpiece W and the conveyor belt 41c in the conveyance direction D1 is released. The restriction can also be released by pressing the restriction release portion 52d of the rear holding arm 52 forward.

[0053] The work sensor 43 is a proximity sensor that can detect the presence or absence of an object above the work sensor 43. The work sensor 43 is disposed directly below the work W so that it can detect the work W being held by the work holding mechanism 42. The work sensor 43 is fixed to the bottom wall portion 40a of the movable frame. The work sensor 43 may be of either a non-contact type or a contact type. The work sensor 43 is, for example, a photoelectric sensor.

[0054] The elongated holes 40c and the fasteners 40d constitute a belt interval change mechanism 53 that can change the interval between the pair of left and right conveyor belts 41c in the width direction of the workpiece W (left and right direction). More specifically, when the fastening of the other-side transport frame 46 by the fasteners 40d is loosened, the other-side transport frame 46 can be moved in the width direction of the workpiece W along the elongated holes 40c. By moving the other-side transport frame 46 in the width direction of the workpiece W, the right-side transport belt 41c can be moved integrally with the other-side transport frame 46 in the width direction of the workpiece W, and the spacing between the left and right transport belts 41c can be changed. After the spacing between the transport belts 41c has been changed, the fasteners 40d are retightened.

[0055] The second movable transport unit 22 (FIG. 1) has the same structure as the first movable transport unit 21. Therefore, a detailed description of the structure of the second movable transport unit 22 will be omitted. In the following description, the second movable transport unit 22 may be described using the same reference numerals as the components of the first movable transport unit 21.

[0056] 1, 4, and 5, the second movable transport unit 22 has the movable frame bottom wall portion 40a placed on the upper surface of the work table 16 of another tabletop robot 12 and fixed to the work table 16 by fasteners. The second movable transport unit 22 is driven in the front-to-rear direction (X-axis direction) by the work table 16.

[0057] FIG. 6 is a block diagram of the automatic device 1. The desktop robot 2 includes an X motor 61 that drives the work table 6, a Y motor 62 that drives the Y unit 7, and a Z motor 63 that drives the Z unit 8. The desktop robot 2 includes a control unit 64 electrically connected to an X motor 61, a Y motor 62, a Z motor 63, and the like. The control unit 64 has the function of controlling the operation of the X motor 61 and the like to cause the desktop robot 2 to perform various tasks using the tool T. The desktop robot 2 is also electrically connected to the control unit 64 and includes a memory unit 65 that stores programs and various information for causing the control unit 64 to perform various controls. The operation unit 9a and the display unit 9b are electrically connected to the control unit 64. The desktop robot 2 controls the X motor 61 and the like based on the teaching data as the work content stored in the storage unit 65 to perform the work using the tool T.

[0058] Another tabletop robot 12 includes an X motor 71 that drives the work table 16, a Y motor 72 that drives the Y unit 17, and a Z motor 73 that drives the Z unit . Another desktop robot 12 includes a control unit 74 electrically connected to an X motor 71, a Y motor 72, a Z motor 73, and the like. The control unit 74 has the function of controlling the operation of the X motor 71, etc., to cause the other desktop robot 12 to perform various tasks using the tool T. The other desktop robot 12 is electrically connected to the control unit 74 and is provided with a memory unit 75 that stores programs for causing the control unit 74 to perform various controls and various information. The other desktop robot 12 controls the X motor 71 and the like based on the teaching data as the work content stored in the storage unit 75 to perform the work using the tool T. The control unit 74 and the control unit 64 are electrically connected, and the tabletop robot 2 and the other tabletop robot 12 can recognize each other's working status. The other desktop robot 12 can be operated via the operation unit 9a, and the operating status of the other desktop robot 12 can be displayed on the display unit 9b.

[0059] The transport motor 28a of the transport device 20 is electrically connected to the control unit 64. The control unit 64 controls the driving of the transport motor 28a to transport the workpiece W. The workpiece sensor 43 of the first movable transport unit 21 is electrically connected to the control unit 64. The workpiece sensor 43 of the second movable transport unit 22 is electrically connected to the control unit 74. The workpiece sensor 43 of the first movable transport unit 21 outputs an ON signal to the control unit 64 when it detects the workpiece W, and outputs an OFF signal to the control unit 64 when it does not detect the workpiece W. The workpiece sensor 43 of the second movable transport unit 22 outputs an ON signal to the control unit 74 when it detects the workpiece W, and outputs an OFF signal to the control unit 74 when it does not detect the workpiece W.

[0060] Here, with reference to FIGS. 7 to 9, a transfer process in which the transfer device 20 transfers the workpiece W from the tabletop robot 2 to another tabletop robot 12 will be described. Fig. 7 is a perspective view showing a stage prior to conveyance. In Figs. 7 to 9, only the left side of the conveyance device 20 is shown so that the internal structure can be seen, and only a portion of the workpiece W is also shown. In reality, the workpiece W is held at both left and right ends by left and right workpiece holding mechanisms 42 (Figs. 4 and 5), and is conveyed by left and right conveyor belts 41c and left and right conveyor belts 26d.

[0061] 7, the first movable transport unit 21 is located at a rearward distance from the fixed transport unit 23, and the second movable transport unit 22 is located at a forward distance from the fixed transport unit 23. In addition, the workpiece W is held by the first movable transport unit 21 of the desktop robot 2 (FIG. 1).

[0062] 7, the workpiece W and the conveyor belt 26d are sandwiched by the workpiece holding mechanism 42 of the first movable conveyor unit 21, and movement in the conveying direction D1 is restricted. In detail, the workpiece W and the conveyor belt 26d are sandwiched and held between the holding portions 51e, 52e and the holding rib 40e by the biasing forces of the front biasing member and the rear biasing member. The desktop robot 2 (FIG. 1) performs coating work on the workpiece W using the tool T while the workpiece W is held by the workpiece holding mechanism 42. This effectively prevents the position of the workpiece W from changing when the tool T is working, allowing the tool T to work on the workpiece W appropriately.

[0063] 7, the automatic device 1 detects an ON signal from the workpiece sensor 43 of the first movable transport unit 21, and detects an OFF signal from the workpiece sensor 43 of the second movable transport unit 22.

[0064] FIG. 8 is a perspective view showing a state in which the workpiece W is being transported. When the work by the tool T of the tabletop robot 2 is completed, the automatic device 1 transports the workpiece W to another tabletop robot 12 by the transport device 20. When the work by the tool T of the tabletop robot 2 is completed, the automatic device 1 drives the work table 6 forward as shown in Figure 8 to transport the first movable transport unit 21 together with the work W to the closest transport position where the first movable transport unit 21 is closest to the fixed transport unit 23, and drives the work table 16 backward to transport the second movable transport unit 22 to the closest transport position where the second movable transport unit 22 is closest to the fixed transport unit 23.

[0065] When the first movable conveying unit 21 is conveyed to the closest conveying position, the deregulation portion 51d of the first movable conveying unit 21 abuts against the rear surface of the vertical wall portion 25b of the fixed conveying unit 23, and the deregulation portion 51d is pressed rearward by the vertical wall portion 25b, thereby releasing the restriction on the movement of the workpiece W and conveying belt 26d by the work holding mechanism 42.

[0066] Furthermore, when the first movable transport unit 21 is transported to the closest transport position, the front end of the transport belt 41c of the first movable transport unit 21 abuts against the rear connecting roller 30 of the fixed transport unit 23, and the drive-side transport belt unit 26 and the driven-side transport belt unit 41 are connected via the rear connecting roller 30. This makes it possible to transmit the driving force of the drive-side transport belt unit 26 to the driven-side transport belt unit 41. In detail, when the conveyor belt 26d of the drive-side conveyor belt unit 26 is rotated by the conveyor motor 28a (FIGS. 2 and 3), the rear connecting roller 30 is rotated in the opposite direction to the conveyor belt 26d by the conveyor belt 26d, and the conveyor belt 41c of the first movable conveyor unit 21 is rotated in the opposite direction to the rear connecting roller 30 by the rear connecting roller 30. This allows the conveyor belt 26d and the conveyor belt 41c to rotate in the same direction.

[0067] Referring to Figures 7 and 8, when the second movable conveying unit 22 is conveyed to the closest conveying position, the deregulation portion 52d of the second movable conveying unit 22 abuts against the front surface of the vertical wall portion 25b of the fixed conveying unit 23, and the deregulation portion 52d is pressed forward by the vertical wall portion 25b, thereby releasing the restriction on the movement of the conveying belt 26d by the work holding mechanism 42 of the second movable conveying unit 22.

[0068] Furthermore, when the second movable conveying unit 22 is conveyed to the closest conveying position, the rear end of the conveying belt 41c of the second movable conveying unit 22 comes into contact with the front connecting roller 29 of the fixed conveying unit 23, and the drive-side conveying belt unit 26 and the driven-side conveying belt unit 41 are connected via the rear connecting roller 30. This makes it possible to transmit the driving force of the drive-side conveying belt unit 26 to the driven-side conveying belt unit 41. In detail, when the conveyor belt 26d of the drive-side conveyor belt unit 26 is rotated by the conveyor motor 28a (FIGS. 2 and 3), the front connecting roller 29 is rotated in the opposite direction to the conveyor belt 26d by the conveyor belt 26d, and the conveyor belt 41c of the second movable conveyor unit 22 is rotated in the opposite direction to the front connecting roller 29 by the front connecting roller 29. This allows the conveyor belt 26d and the conveyor belt 41c to rotate in the same direction.

[0069] After the automatic device 1 transports the first movable transport unit 21 and the second movable transport unit 22 to the closest transport positions, it drives the transport motor 28a (Figures 2 and 3) to transport the workpiece W from the first movable transport unit 21 to the second movable transport unit 22. In detail, the automatic device 1 drives the conveying motor 28a until it detects an OFF signal from the workpiece sensor 43 of the first movable conveying unit 21 and an ON signal from the workpiece sensor 43 of the second movable conveying unit 22.

[0070] More specifically, when the conveying motor 28a (FIGS. 2 and 3) is driven in the state shown in FIG. 8, the workpiece W is conveyed forward by the conveying belt 41c of the first movable conveying unit 21 and is handed over to the conveying belt 26d of the fixed conveying unit 23. When the workpiece W is conveyed forward of the workpiece sensor 43 of the first movable conveying unit 21, the automatic device 1 detects an OFF signal from this workpiece sensor 43. The workpiece W is then transported forward by the transport belt 26d, handed over to the transport belt 41c of the second movable transport unit 22, and transported forward by the transport belt 41c. When the automatic device 1 detects an ON signal from the workpiece sensor 43 of the second movable transport unit 22, it stops the transport motor 28a. As a result, the front end of the workpiece W is positioned directly above the workpiece sensor 43 on the transport belt 41c of the second movable transport unit 22.

[0071] FIG. 9 is a perspective view showing a state in which the transfer by the transfer device 20 has been completed. After stopping the conveying motor 28a in the state shown in Figure 8, the automatic device 1 drives the work table 6 to move the first movable conveying unit 21 backward, and drives the work table 16 to move the second movable conveying unit 22 together with the work W to any position forward, as shown in Figure 9. As a result, the vertical wall portion 25b of the fixed transport unit 23 releases the pressure on the restriction release portion 52d, the restriction by the workpiece holding mechanism 42 becomes effective, and the movement of the workpiece W and the transport belt 41c is restricted in the second movable transport unit 22. In this state, the workpiece W is held on the transport belt 41c by the workpiece holding mechanism 42, so that another desktop robot 12 (FIG. 1) can properly perform work on the workpiece W using the tool T. Furthermore, in the first movable transport unit 21 that has moved rearward, the vertical wall portion 25b is released from pressing the restriction release portion 51d, and the workpiece holding mechanism 42 restricts the movement of the transport belt 41c.

[0072] To summarize the transport by the transport device 20 described with reference to FIGS. 7 to 9, the transportable length L over which the workpiece W can be transported in the transport direction D1 by the transport device 20 is as shown in FIG. In this embodiment, the transport direction D1 of the workpiece W by the first movable transport unit 21, the fixed transport unit 23, and the second movable transport unit 22 and the drive direction D2 of the first movable transport unit 21 and the second movable transport unit 22 by the work tables 6, 16 are the same direction (front-to-back direction). As a result, the transportable length L is a length that includes the length that the workpiece W can be transported by the first movable transport unit 21, the fixed transport unit 23, and the second movable transport unit 22, and the front-to-rear driving range of the work tables 6, 16. Therefore, the transportable length L is greater than the length when the first movable transport unit 21, the fixed transport unit 23, and the second movable transport unit 22 are lined up in the front-to-rear direction as shown in Figure 8, and the transportable length L can be increased.

[0073] In the fixed transport unit 23, the belt spacing change mechanism 36 (FIG. 3) allows the right-side transport belt 26d to move integrally with the other-side transport frame 32 in the width direction of the workpiece W. This makes it possible to change the spacing between the left and right transport belts 26d in accordance with the width of the workpiece W, allowing workpieces W of various widths to be transported by the transport belts 26d. Furthermore, in the first movable transport unit 21 and the second movable transport unit 22, the belt interval change mechanism 53 (FIG. 5) can move the right-side transport belt 41c together with the other-side transport frame 46 in the width direction of the workpiece W. Therefore, the interval between the left and right 41c can be changed according to the width of the workpiece W, and workpieces W of various widths can be transported by the transport belt 41c.

[0074] 8, when the first movable transport unit 21 and the second movable transport unit 22 are located at the closest transport position, the transport motor 28a of the fixed transport unit 23 can drive both the driven transport belt unit 41 of the first movable transport unit 21 and the driven transport belt unit 41 of the second movable transport unit 22. This allows for a reduction in the number of transport motors 28a. Furthermore, since there is no need to provide transport motors 28a for the movable transport units 21 and 22, the weight of the movable transport units 21 and 22, which are driven by the work tables 6 and 16, can be reduced, making it easier to drive the movable transport units 21 and 22 back and forth.

[0075] [Second embodiment] A second embodiment to which the present invention is applied will be described below with reference to Fig. 10. In this second embodiment, parts configured in the same manner as in the first embodiment are given the same reference numerals and descriptions thereof will be omitted. FIG. 10 is a perspective view showing an automated device 201 equipped with a transport device 220 according to the second embodiment of the present invention.

[0076] The automatic device 201 includes a tabletop robot 202 (a specified tabletop robot) that replaces the tabletop robot 2 (Figure 1), another tabletop robot 12 (not shown in Figure 10), and a transport device 220 that transports the workpiece W from the tabletop robot 202 to the other tabletop robot 12.

[0077] The Z unit 8 of the tabletop robot 202 includes a camera 250 disposed behind the tool T. The camera 250 is disposed a distance dx1 behind the tool T. The camera 250 is connected to the control unit 64 (FIG. 6) and captures an image of an object below the camera 250.

[0078] The transport device 220 is provided with a movable transport unit 221 instead of the movable transport unit 21. The transport device 220 is also provided with a fixed transport unit 23 (FIG. 1) and a second movable transport unit 22 (FIG. 1), but the fixed transport unit 23 and the second movable transport unit 22 are not shown in FIG. 10. Note that in FIG. 10, the right side of the movable transport unit 221, such as the other-side transport frame 46 (FIG. 5), is not shown so that the internal structure can be seen.

[0079] The movable transport unit 221 is attached to the work table 6. The movable transport unit 221 includes a movable frame 40, a pair of left and right driven transport belt units 41, a pair of left and right workpiece holding mechanisms 42, and a rear workpiece sensor 243a and a front workpiece sensor 243b that detect the workpiece W.

[0080] The front work sensor 243b is disposed at a distance dx2 in front of the rear work sensor 243a, which is adjusted to be the same as the distance dx1. The front work sensor 243b and the rear work sensor 243a are detachably mounted on the movable frame bottom wall portion 40a, and the front-to-rear distance between the front work sensor 243b and the rear work sensor 243a is adjustable.

[0081] Furthermore, the movable transport unit 221 includes a belt drive unit (not shown) that drives the driven transport belt unit 41, and a holding mechanism drive unit (not shown) that drives the workpiece holding mechanism 42 with an actuator such as a motor. The belt drive unit includes a belt drive motor (not shown) that drives the driven transport belt unit 41.

[0082] In the tabletop robot 202, in a teaching mode in which the tabletop robot 202 is taught the details of the work, the operator can give the teaching while looking at the image of the workpiece W directly below the camera 250 captured by the camera 250. Here, since the camera 250 is positioned a distance dx1 behind the tool T, the teaching content given at the position seen by the camera 250 is actually executed at the position of the tool T, which is positioned a distance dx1 ahead, resulting in a positional deviation in the teaching content. Therefore, the tabletop robot 202 performs position correction to eliminate the above-mentioned deviation using the rear workpiece sensor 243a and the front workpiece sensor 243b.

[0083] Here, an example of a teaching procedure will be described. First, the distance between the front work sensor 243b and the rear work sensor 243a is adjusted so that the distance dx2 is the same as the distance dx1. The worker places the workpiece W on the driven-side conveyor belt unit 41 driven by the belt drive motor. The workpiece W is conveyed forward by the driven-side conveyor belt unit 41, and when the front end of the workpiece W is detected by the rear-side workpiece sensor 243a, the control unit 64 stops the conveyance by the belt drive motor and drives the workpiece holding mechanism 42 to hold the workpiece W on the driven-side conveyor belt unit 41.

[0084] Next, while looking at the image captured by the camera 250, the worker drives the work table 6 to move the movable transport unit 221 so that the teaching target position of the work W is located directly below the camera 250, and inputs teaching instructions for the teaching target position via the operation unit 9a.

[0085] Then, when performing the taught work, the rear workpiece sensor 243a is not used (disabled), and the worker places the workpiece W on the driven-side conveyor belt unit 41. The workpiece W is conveyed forward by the driven-side conveyor belt unit 41, and when the front end of the workpiece W is detected by the front-side workpiece sensor 243b, the control unit 64 stops conveyance by the belt drive motor and drives the workpiece holding mechanism 42 to hold the workpiece W on the driven-side conveyor belt unit 41. As a result, the workpiece W is held by the workpiece holding mechanism 42 at a position that is a distance dx2 forward from when the above teaching instruction was input. In this way, by offsetting the position at which the workpiece W is held by the workpiece holding mechanism 42 forward by a distance dx2 to match the tool T, which is positioned a distance dx1 forward of the camera 250, positional deviations in the teaching content can be eliminated.

[0086] (Addendum) This specification discloses the following technology in one aspect. Note that the reference numerals described below correspond to the reference numerals in the accompanying drawings, but are presented as examples and are not intended to limit the invention of this application.

[0087] (Technology 1) A transfer device (20) transfers a work (W) from a predetermined tabletop robot (2) that drives a work (W) and a tool (T) to perform work on the work (W) with the tool (T) to another device (12), a movable transport unit (21) that is detachable from the workpiece drive unit (6) of the desktop robot (2); A conveying device (20) in which the conveying direction (D1) of the work (W) by the movable conveying unit (21) and the driving direction (D2) of the movable conveying unit (21) by the work driving section (6) are the same.

[0088] With this technology, the direction in which the workpiece is transported by the movable transport unit is the same as the direction in which the movable transport unit is driven by the workpiece drive unit of the desktop robot, so the amount of movement of the movable transport unit by the workpiece drive unit can be included in the length of workpieces that can be transported by the transport device. This makes it possible to realize a transport device with a simple and compact configuration that can increase the length of transport. Furthermore, the movable transport unit is detachable, allowing for flexible layout changes when configuring a fully automatic or semi-automatic device.

[0089] (Technology 2) The robot further includes a fixed transport unit (23) detachably provided between the predetermined tabletop robot (2) and the other device (12), The conveying device according to Art 1, wherein the conveying direction (D1) of the work (W) by the fixed conveying unit (23) and the driving direction (D2) of the movable conveying unit (21) by the work driving unit (6) are the same.

[0090] According to this technology, a fixed transport unit can transport workpieces over the distance between a designated tabletop robot and another device, making it easier to transport workpieces from the designated tabletop robot to another device. In addition, when the working times of the designated tabletop robot and another device differ, the fixed transport unit can also be used as a buffer (a temporary place for workpieces to stay).

[0091] (Technology 3) The transport device according to Art 1 or 2, wherein the movable transport unit (23) further includes at least one workpiece sensor (43) for detecting that the workpiece (W) has reached a predetermined position.

[0092] According to this technique, the work sensor can detect that the workpiece has reached a predetermined position after being transported by the movable transport unit.

[0093] (Technology 4) The movable conveying unit (21) and the fixed conveying unit (23) each have a conveying belt unit (26, 41) for conveying the work (W), One of the movable conveying unit (21) and the fixed conveying unit (23) has a drive section (28) that drives one of the conveying belt units (26), The conveying device (20) according to Art 2 is provided with a driving force transmission section (30) that transmits the driving force of one of the conveying belt units (26) to the other of the conveying belt units (41).

[0094] This technology allows the driving force of one conveyor belt unit driven by a drive section to be transmitted to the other conveyor belt unit by a drive force transmission section, and allows both the movable conveyor unit and the fixed conveyor unit to be driven with a simple structure.

[0095] (Technology 5) The movable conveying unit (21) and the fixed conveying unit (23) each have a conveying belt unit (26, 41) for conveying the work (W), The conveyor belt unit (26, 41) has a pair of conveyor belts (26d, 41c) arranged side by side in the width direction of the work (W), The conveying device (20) according to Art 2 is provided with a belt interval change mechanism (36, 53) that can change the interval between the pair of conveying belts (26d, 41c) in the width direction.

[0096] According to this technology, the belt spacing change mechanism can change the spacing between the pair of conveyor belts in the width direction of the workpiece, so that workpieces of various widths can be conveyed by the conveyor belts.

[0097] (Technology 6) the movable transport unit (21) includes a transport belt unit (41) that transports the work (W), and a work holding mechanism (42) that regulates movement of a transport belt (41c) of the transport belt unit (41) and the work (W) in the transport direction (D); The workpiece holding mechanism (42) includes a restriction release portion (51d) that is activated by being pressed to release the restriction, The conveying device (20) according to Art 2 or 4, wherein when the movable conveying unit (21) is driven in the drive direction by the work driving unit (6) and approaches the fixed conveying unit (23), the restriction release unit (51d) is pressed by the fixed conveying unit (23), thereby releasing the restriction.

[0098] According to this technology, the workpiece holding mechanism can restrict the movement of the workpiece and the conveyor belt in the conveying direction, allowing the tool to work appropriately on the restricted workpiece. Also, when the movable conveyor unit is driven in the driving direction by the workpiece drive unit and approaches the fixed conveyor unit, the restriction is released and the workpiece and the conveyor belt can move in the conveying direction, so that a simple structure can be used to switch between restricting and releasing the restriction on the movement of the workpiece and the conveyor belt.

[0099] Although the present invention has been exemplified by the embodiments described above, the present invention is not limited to the specific embodiments, and various modifications and variations are possible within the spirit and scope of the present invention as set forth in the claims unless otherwise specifically limited in the above description. Furthermore, the effects of the above embodiments are merely examples of the effects that can be obtained from the present invention, and do not mean that the effects of the present invention are limited to the above effects.

[0100] In the above embodiment, the automated device 1 including the tabletop robots 2, 12, the first movable transport unit 21, the second movable transport unit 22, and the fixed transport unit 23 has been described as an example, but these components may be increased or decreased. In particular, in the first movable transport unit 21 and the second movable transport unit 22, the deregulation units 51d and 52d are provided in front and behind these movable transport units. Therefore, even if a fixed transport unit 23 and a third tabletop robot are provided behind another tabletop robot 12, for example, the movable transport unit of the third tabletop robot can receive a workpiece W from the fixed transport unit 23. In this way, fixed transport units and movable transport units can be freely added depending on the work content. Also, a first movable transport unit 21 may be provided on the work table 6 of the tabletop robot 2, and a second movable transport unit 22 may be provided on the work table 16 of another tabletop robot 12, that is, an automatic device configuration without a fixed transport unit 23. In this case, it is sufficient that either the first movable transport unit 21 or the second movable transport unit 22 is provided with a drive unit and a connecting roller. Furthermore, the conveying device 20 can be used in both a semi-automatic device in which the workpiece is placed and removed by an operator, and an automatic device that is equipped with a stacker device or the like and automates the placement and removal of the workpiece.

[0101] In the above embodiment, the fixed transport unit 23 has the drive unit 28, and the rear connecting roller 30 that transmits the driving force of the drive-side transport belt unit 26 to the driven-side transport belt unit 41 is provided in the fixed transport unit 23. However, the present invention is not limited to this. For example, the drive unit 28 may be provided in the first movable transport unit 21, and the drive force of the transport belt unit of the first movable transport unit 21 may be transmitted to the transport belt unit of the fixed transport unit 23. The rear connecting roller 30 as a drive unit transmission unit may be provided in either the fixed transport unit 23 or the movable transport unit 21. Alternatively, the drive unit 28 may be provided in each of the fixed transport unit 23 and the movable transport unit 21, and the transport belt unit of the fixed transport unit 23 and the transport belt unit of the movable transport unit 21 may be driven independently.

[0102] In the above embodiment, flat rubber belts are used as the conveyor belts 26d and 41c, and rubber rollers are used as the connecting rollers 29 and 30. However, other configurations may be used. For example, a toothed double-toothed belt may be used as the conveyor belt, toothed pulleys may be used as the members around which the belt is wound, and toothed connecting rollers may be used as the connecting rollers. In this case, slippage between the belt, pulleys, and rollers can be reduced, allowing the workpieces W to be transported efficiently. Furthermore, a gear mechanism may be used instead of connecting rollers to transmit the rotational driving force of the drive-side conveyor belt unit to the driven-side conveyor belt unit.

[0103] 7 to 9, the first movable transport unit 21 and the second movable transport unit 22 are simultaneously moved close to the fixed transport unit 23, and the workpiece W is transported in one go from the first movable transport unit 21 to the second movable transport unit 22. However, other configurations may be used. For example, the first movable transport unit 21 may first be moved to the closest transport position, the workpiece W is transported from the first movable transport unit 21 to the fixed transport unit 23, the first movable transport unit 21 is moved backward from the fixed transport unit 23, and then the second movable transport unit 22 is moved to the closest transport position, and the workpiece W is transported from the fixed transport unit 23 to the second movable transport unit 22.

[0104] Furthermore, the workpiece holding mechanism 42 of the first movable transport unit 21 is released from restriction when the restriction release portion 51d is pressed by the fixed transport unit 23, but other configurations are also possible. For example, a holding mechanism drive unit such as a motor that drives the workpiece holding mechanism 42 may be provided, and the control unit 64 may control the holding mechanism drive unit to switch between restriction and restriction release.

[0105] Furthermore, the other tabletop robot 12 does not have the operation unit 9a or the display unit 9b, but is provided with a control unit 74 so that the tabletop robot 12 can be used alone when the production line is changed. This configuration may be changed to another configuration. For example, instead of providing a control unit 74 in the other tabletop robot 12, the control functions may be concentrated in the tabletop robot 2, and the other tabletop robot 12 may be controlled by the control unit 64. Furthermore, in the above embodiment, the fixed transport unit 23 is attached to the base 13 of the other tabletop robot 12, but the fixed transport unit 23 may be attached to another location. For example, the fixed transport unit 23 may be attached to the tabletop robot 2, or may be attached to a workbench (stand) on which the tabletop robot 2 and the other tabletop robot 12 are placed. Furthermore, in the above embodiment, a printed circuit board has been used as an example of the workpiece W, but the workpiece W may be other workpieces such as a smartphone, a tablet, a laptop computer, a game console, an LCD screen device, a solar panel, and a petri dish for cultivating microorganisms, etc., as long as it can be supported, transported, and held by the driven side conveying belt unit 41 and the driving side conveying belt unit 26. [Explanation of symbols]

[0106] 2,202: Tabletop robot (prescribed tabletop robot) 6: Work table (work drive unit) 12: Tabletop robot (another device) 20,220:Transportation equipment 21, 221: First movable transport unit (movable transport unit) 23: Fixed transport unit 26: Drive side conveyor belt unit (conveyor belt unit, one of the conveyor belt units) 26d: conveyor belt 28: Drive unit 30: Rear connecting roller (driving force transmission part) 36,53: Belt spacing change mechanism 41: Driven conveyor belt unit (conveyor belt unit, other conveyor belt unit) 41c: Conveyor belt 42: Work holding mechanism 43, 243a, 243b: Work sensor 51d: Deregulation Department D1: Transport direction D2: Drive direction T: Tools W: Work

Claims

1. A transport device that transports a workpiece from a predetermined tabletop robot that drives a workpiece and a tool to perform a task on the workpiece with the tool to another device, a movable transport unit detachable from the workpiece drive unit of the desktop robot; A conveying device in which the direction in which the workpiece is conveyed by the movable conveying unit is the same as the direction in which the movable conveying unit is driven by the work driving unit.

2. a fixed transport unit detachably provided between the predetermined tabletop robot and the other device; 2. The conveying device according to claim 1, wherein a direction in which the workpiece is conveyed by the fixed conveying unit and a direction in which the movable conveying unit is driven by the workpiece driving section are the same.

3. 3. The transport device according to claim 1, wherein the movable transport unit further comprises at least one workpiece sensor that detects when the workpiece reaches a predetermined position.

4. the movable transport unit and the fixed transport unit each have a transport belt unit that transports the workpiece, one of the movable transport unit and the fixed transport unit has a drive unit that drives one of the transport belt units, 3. The conveying device according to claim 2, further comprising a driving force transmission section for transmitting the driving force of one of the conveying belt units to the other of the conveying belt units.

5. the movable transport unit and the fixed transport unit each have a transport belt unit that transports the workpiece, The conveyor belt unit has a pair of conveyor belts arranged side by side in the width direction of the workpiece, The conveying device according to claim 2 , further comprising a belt spacing change mechanism that can change the spacing between the pair of conveying belts in the width direction.

6. the movable transport unit includes a transport belt unit that transports the workpiece, and a workpiece holding mechanism that regulates movement of the transport belt of the transport belt unit and the workpiece in the transport direction; The workpiece holding mechanism includes a restriction release portion that is activated by being pressed to release the restriction, A conveying device as described in claim 2 or 4, wherein when the movable conveying unit is driven in the driving direction by the work driving unit and approaches the fixed conveying unit, the restriction release unit is pressed by the fixed conveying unit, thereby releasing the restriction.

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