Work systems and processing devices

Abstract

The orientation of the processing unit is corrected with low load. [Solution] The work system 100 comprises 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 attached to and detached from the work device 110, wherein the processing device 130 comprises a main body 131 that performs processing on the work device 110 which is guided and attached by an upper and lower guide portion 150, a trolley 132 that supports the main body 131 and is transported on the floor surface 300, a connecting portion 133 that connects the main body 131 and the trolley 132 by allowing rotational displacement of the main body 131 relative to the trolley 132 in the direction of movement when attached to and detached from the work device 110, and in the width direction which intersects the attachment and detachment direction along the horizontal plane, and an adjustable portion which adjusts the posture of the main body 131 relative to the work device 110 by contacting a posture adjustment portion provided on the work device 110.

Description

Technical Field

[0001] The present invention relates to a work system that executes work on an object and a processing device included in the work system.

Background Art

[0002] Conventionally, there is a processing device that is transported on a floor where a work device is installed and is attached to the work device. Patent Document 1 describes a component mounting device that performs work on a printed circuit board or the like as one of the work devices, and a component supply device that automatically supplies a carrier tape holding a plurality of components as one of the processing devices. The component supply device is provided with a positioning unit composed of a pair of rails. When the component supply device is attached to the component mounting device, the component supply device is guided through the positioning unit by the guiding means attached to the component mounting device, and a technique for correcting the misalignment of the component supply device with respect to the component mounting device is described.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when trying to correct the posture of the entire processing device such as the component supply device, a load based on the total weight of the guiding member is applied to the guiding member, so it is necessary to increase the rigidity of the guiding member. Therefore, the inventor has developed a technique for correcting the posture of the processing device with a low load by separating the processing device into a cart that travels on the floor surface and a main body supported by the cart, and setting the degree of freedom of the posture of the main body with respect to the cart.

[0005] This invention is based on the inventor's findings during development and provides a work system and processing apparatus that can correct the posture of the processing apparatus body with low load. [Means for solving the problem]

[0006] One work system according to the present invention is a work device that performs work on an object, and a processing device that is transported on the floor surface on which the work device is installed and attached to and detached from the work device, wherein the processing device comprises a main body that is guided and attached to the upper and lower guide portion and performs processing on the work device, a trolley that supports the main body portion and is transported on the floor surface, a connecting portion that connects the main body portion and the trolley, allowing rotational displacement of the main body portion relative to the trolley in the direction of movement when attached to and detached from the work device, and in the width direction which intersects the attachment and detachment direction along the horizontal plane, and an adjustable portion that contacts an attitude adjustment portion provided on the work device to adjust the attitude of the main body portion relative to the work device.

[0007] One of the present inventions is a processing apparatus that is transported on a floor surface on which a work apparatus for performing work on an object is installed, and is attached to and detached from the work apparatus, comprising: a main body that performs processing on the work apparatus and is attached to the upper and lower guide portion guided by the upper and lower guide portion; a trolley that supports the main body and is transported on the floor surface; a connecting portion that connects the main body and the trolley, allowing rotational displacement of the main body relative to the trolley in the direction of movement when attached to and detached from the work apparatus, which is the direction of movement, and in the width direction which is along the horizontal plane and intersects the direction of attachment and detachment; and an adjustable portion that adjusts the posture of the main body relative to the work apparatus by contacting a posture adjustment portion provided on the work apparatus. [Effects of the Invention]

[0008] According to the present invention, the orientation of the processing unit can be corrected with a low load. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a perspective view showing the work system according to Embodiment 1. [Figure 2] Figure 2 is a perspective view showing the work apparatus according to Embodiment 1. [Figure 3] Figure 3 is a perspective view showing the processing apparatus according to Embodiment 1. [Figure 4] Figure 4 shows the state of the processing device according to Embodiment 1 immediately before it is attached to the work device. [Figure 5] Figure 5 shows the processing device according to Embodiment 1 attached to a work device. [Figure 6] Figure 6 is a perspective view showing the trolley portion of the processing device according to Embodiment 1 when it is attached to the work device. [Figure 7] Figure 7 shows the processing device according to Embodiment 2 attached to a work device. [Figure 8] Figure 8 is a perspective view showing the trolley portion, posture adjustment unit, and adjusted unit of the processing device according to Embodiment 2 when it is attached to the work device. [Modes for carrying out the invention]

[0010] The following describes embodiments of the work system and processing apparatus according to the present invention with reference to the drawings. The following embodiments are provided as examples to illustrate the present invention and are not intended to limit it. 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. Geometric expressions such as parallel and orthogonal may be used, but these expressions do not indicate mathematical rigor and include substantially acceptable errors and deviations. Similarly, expressions such as simultaneous and identical also include substantially acceptable ranges.

[0011] Furthermore, the drawings are schematic diagrams that have been appropriately emphasized, omitted, or had their proportions adjusted to illustrate the present invention, and therefore differ from the actual shape, positional relationships, and proportions. Also, the X, Y, and Z axes shown in the drawings represent orthogonal coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z axis is not necessarily an axis along the vertical direction, and the X and Y axes are not necessarily located in the horizontal plane.

[0012] The sign of the direction of rotation is defined as the direction in which a right-hand screw advances in the positive direction of each axis. For example, the positive direction of rotation around the X axis (pitch) is defined as the direction in which a right-hand screw advances from the negative to the positive direction of the X axis, which is the clockwise direction of rotation in Figure 4.

[0013] Furthermore, in the following, multiple inventions may be comprehensively described as a single embodiment. Also, some of the content described below is described as an optional component relating to the present invention.

[0014] (Embodiment 1) Figure 1 is a perspective view showing the work system 100. The work system 100 is a system for performing work on an object (not shown), and comprises a work device 110 and a processing device 130. In this embodiment 1, the work system 100 includes an automated guided vehicle 200 for transporting the processing device 130.

[0015] FIG. 2 is a perspective view showing the working device 110. The working device 110 is a device that performs work on an object, and includes an upper and lower guide portion 150 that guides the movement of the processing device 130 when the processing device 130 is attached. Details of the upper and lower guide portion 150 will be described later. The type of the working device 110 is not limited. For example, a device that performs work on a substrate, such as attaching a component to the substrate, which is one of the objects, can be exemplified as the working device 110. Also, a solder printing device that prints a solder paste on the surface of a substrate or the like, a component mounting device that mounts components on a substrate, a reflow furnace that melts the solder paste by heating and mechanically and electrically connects the components to the substrate by cooling, and other devices incorporated in a circuit board manufacturing line can also be exemplified as the working device 110. Further, the working device 110 includes an inspection device that performs inspection in each process of performing work on the substrate, a transfer device that connects between the devices and transfers the substrate or the like during manufacturing, and the like.

[0016] In the case of the first embodiment, the working device 110 includes a processing device contact portion 111 that functions as a posture adjustment portion, and an upper and lower guide portion 150. Details of the processing device contact portion 111 and the upper and lower guide portion 150 will be described later.

[0017] FIG. 3 is a perspective view showing the processing device 130. The processing device 130 is transported on the floor surface 300 where the working device 110 is installed, performs processing with the working device 110 in a state of being attached to the working device 110, and is removed from the working device 110 after the processing is completed. The type of the processing device 130 is not particularly limited. For example, as the processing device 130, a carrier tape supply device that supplies a container in which a carrier tape is stored to a component mounting device, which is one of the working devices 110, a tray supply device that supplies a tray on which components are placed, a solder supply device that supplies a solder paste to a solder printing device, and the like can be exemplified. Also, the processing device 130 may be a device that does not supply components but accesses the working device 110 to perform adjustment processing, maintenance, and the like.

[0018] The processing device 130 includes a main body unit 131 that executes processing on the working device 110 guided and attached to the upper and lower guide units 150, a carriage 132 that supports the main body unit 131 and is transported on the floor surface 300, and a connecting unit 133 that connects the main body unit 131 and the carriage 132.

[0019] Wheels 137 are provided at the lower ends of the carriage 132. In the case of the first embodiment, the wheels 137 are provided at the four corners of the carriage 132, respectively, and each is a caster that can rotate. Thereby, by the unmanned transport vehicle 200, the processing device 130 can move in an arbitrary direction, and can also change direction and rotate (pivot) at the same position.

[0020] The connecting portion 133 is a mechanical element that connects the main body 131 and the trolley 132 by allowing rotational displacement of the main body 131 relative to the trolley 132 in the attachment / detachment direction (Y-axis direction in the figure), which is the direction of movement when attaching and detaching from the work device 110, and in the width direction (X-axis direction in the figure) which intersects the attachment / detachment direction along the horizontal plane. In this embodiment 1, the rotation center of the connecting portion 133 is not directly below the center of gravity of the main body 131, but is located further away from the center of gravity of the main body 131 relative to the work device 110 in the attachment / detachment direction. In other words, when the processing device 130 is attached to the work device 110, the center of gravity of the main body 131 is located near the rotation center of the connecting portion 133, but is located relatively close to the work device 110. Because the center of gravity is located near the center of rotation, when attaching the processing device 130 to the working device 110, the majority of the weight of the main body 131 can be supported by the connecting part 133, and the moment of inertia around the X axis is also reduced, thereby dynamically and statically reducing the load on the working device 110 that is generated to correct the posture of the main body 131. Therefore, the structure of the arm 161 (details described later) that contacts the working device 110 to correct the posture of the main body 131 can be simplified and lightened, resulting in effects such as lighter weight and lower cost of the processing device 130. In addition, because the center of gravity of the main body 131 is located relatively close to the working device 110, it is slightly bent forward in its normal posture (a posture where the angle around the X axis is negative from horizontal). The connecting part 133 is attached to the center of the upper surface of the trolley 132 or a point (one location) near thereto, and to the center of the lower surface of the main body 131 or a point (one location) near thereto.

[0021] However, if the gravity vector extending vertically downward from the center of gravity of the main body 131 approaches the rotation center of the connecting part 133 too closely, even if the device is bent forward (angle around the X-axis is negative relative to the horizontal) in a stationary state, the inertial force vector generated at the center of gravity of the main body 131 during acceleration and deceleration when transporting the processing device 130 may cause the main body 131 to lean backward (angle around the X-axis is positive relative to the horizontal, resulting in a curved body), in which case posture instability may occur (details will be described later). On the other hand, if the position of the center of gravity of the main body 131 is brought closer to the work device 110, the load on the work device 110 to correct the posture of the main body 131 when attaching the processing device 130 to the work device 110 increases. In other words, there is a trade-off between the stability of the posture when transporting the processing device 130 and the load on the work device 110 when attaching the processing device 130 to the work device 110. Based on the above, the relationship between the center of gravity of the main body 131 and the center of rotation of the connecting part 133 is determined based on the above relationship.

[0022] The type of connecting part 133 is not limited. In this embodiment 1, a universal joint is used as the connecting part 133. The possible degrees of freedom for the tilting of the trolley 132 relative to the main body 131 are 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 vertical direction (Z-axis direction in the figure). However, in this embodiment 1, the degrees of freedom provided by the universal joint are roll and pitch, and the trolley 132 and the main body 131 are fixed in terms of yaw. In other words, the connecting part 133 does not allow rotational displacement of the main body 131 relative to the trolley 132 in the vertical direction.

[0023] In this first embodiment, the processing device 130 includes a contact portion 134 that functions as an adjustable portion whose posture relative to the work device 110 is adjusted by contacting the posture adjustment portion of the work device 110, and upper and lower contact portions 160. The processing device 130 also includes a regulating portion 135 and a vibration damping portion 136.

[0024] Figure 4 shows the state immediately before attaching the processing device 130 to the work device 110. Figure 5 shows the state after the processing device 130 has been attached to the work device 110. The two upper and lower guide sections 150, which are the posture adjustment section, are arranged spaced apart in the width direction on the work device 110 and are the parts that adjust the posture of the main body 131 of the processing device 130 in the attachment / detachment direction and in the width direction. In this embodiment 1, the upper and lower guide sections 150 are the bottom surfaces of rectangular cylindrical holes extending in the attachment / detachment direction, and the opening portion on the processing device 130 side is provided with a taper that gradually slopes downward toward the processing device 130. The upper and lower guide sections 150 are provided with a taper that gradually widens in the width direction at the opening portion.

[0025] The two upper and lower contact parts 160, which are the parts to be adjusted, contact a pair of upper and lower guide parts 150 in the vertical direction, thereby adjusting the pitch and roll orientation of the main body 131 of the processing device 130 to the correct orientation. Specifically, the upper and lower contact parts 160 are rollers having a rotating shaft that extends in the width direction, and are attached to the tip of a rectangular rod-shaped arm 161 that protrudes from the main body 131 toward the processing device 130 in the attachment / detachment direction. The main body 131, which is transported by the automated guided vehicle 200, is slightly bent forward, and as shown in Figure 4, the upper and lower contact parts 160 contact the taper provided in the opening of the upper and lower guide parts 150. Furthermore, when the automated guided vehicle 200 pushes the processing device 130 to the position shown in Figure 5, the upper and lower contact parts 160 move up the taper and contact the upper and lower guide parts 150, thereby adjusting the main body 131 to the correct orientation in the pitch direction. Furthermore, the main body 131 is adjusted to the correct position in the rolling direction by the pair of upper and lower contact portions 160 contacting a pair of upper and lower guide portions 150 which are spaced apart in the width direction.

[0026] When the processing device 130 and the work device 110 are separated, the main body 131 is supported at three points by the pair of restricting parts 135 (details described later) and the connecting part 133, and is in a stable state. In other words, the gravity vector acting on the center of gravity of the main body 131 passes at least within the triangle formed by the pair of restricting parts 135 and the connecting part 133. Considering the stability of the processing device 130 during transport, it is desirable that the composite vector of the gravity vector and the inertial force vector generated by acceleration and deceleration during transport passes within the triangle formed by the restricting parts 135 and the connecting part 133. When the processing device 130 and the work device 110 are connected, the rigid main body 131 is constrained at three points in three-dimensional space: the tips of the pair of arms 161 and the connecting part 133, thereby determining its orientation in space. By having the work device 110 be responsible for restraining the tips of the pair of arms 161, it is possible to ensure compatibility between the orientation of the main body 131 around the attachment / detachment direction (around the Y-axis) and the work device 110.

[0027] Figure 6 is a perspective view showing the trolley 132 portion with the processing device 130 attached to the work device 110. The processing device contact portion 111 is provided on the surface facing the processing device 130 attached to the work device 110 and is spaced apart in the width direction. The distance between the processing device contact portions 111 is the same as, or approximately the same as, the width of the processing device 130. The processing device contact portion 111 adjusts the yaw direction orientation of the processing device 130 by contacting two contacted portions 134 provided on the processing device 130. In this embodiment 1, the contacted portions 134 are provided on the trolley 132, and the portion where the automated guided vehicle 200 applies force to the trolley 132, the two contacted portions 134, and the two processing device contact portions 111 are arranged so as to be approximately contained within a single horizontal plane. Note that the contacted portions 134 may be located on the main body portion 131, and the processing device contact portions 111 may be located in corresponding positions.

[0028] The restricting section 135 is positioned between the trolley 132 and the main body 131 and restricts the rotational displacement of the main body 131 in the width direction to a predetermined angle. In this embodiment 1, the restricting sections 135 are positioned at both ends of the trolley 132 in the width direction. The restricting section 135 is also positioned at the end of the trolley 132 on the processing device 130 side. As a result, the restricting section 135 restricts the angle at which the main body 131 bends forward to a predetermined angle. This makes it possible to suppress the instability of the main body 131 caused by the inertial force vector generated when the processing device 130 is transported, and makes it possible to move the center of gravity of the processing device 130 away from the rotation center of the connecting section 133.

[0029] The vibration damping section 136 is a device that prevents the processing device 130 from shaking during transport and stabilizes the posture of the processing device 130. In this embodiment 1, the vibration damping section 136 includes a coil spring and a shock absorber. The coil spring is interposed between the trolley 132 and the main body 131 and biases the main body 131 to be in a neutral state relative to the trolley 132. As a result, even if the center of gravity of the processing device 130 is set to be separated from the rotation center of the connecting section 133 in order to counteract the inertial force vector generated when the processing device 130 is transported, the posture of the main body 131 can be maintained in a slightly bent-forward state, and the increase in load on the work device 110 when attaching the processing device 130 to the work device 110 can be suppressed. In addition, the shock absorber suppresses vibrations generated in the main body 131 by converting kinetic energy into heat and dissipating it into the atmosphere due to the effects of fluid viscosity and friction. The shock absorber can quickly suppress vibrations in the pitch direction and roll direction when the main body 131 vibrates during transport of the processing device 130, thereby ensuring stable movement of the processing device 130.

[0030] (Embodiment 2) Next, Embodiment 2 of the work system and processing device will be described. Note that parts (or components) having the same operation, function, shape, mechanism, and structure as those in Embodiment 1 may be denoted by the same reference numerals and their descriptions may be omitted. Furthermore, the following description will focus on the differences from Embodiment 1, and descriptions of the same aspects may be omitted.

[0031] Figure 7 shows the processing device 130 attached to the work device 110. Figure 8 is a perspective view showing the trolley 132, posture adjustment unit, and adjusted unit with the processing device 130 attached to the work device 110. The connecting part 133 is not a universal joint, but a coupling that allows rotational displacement of the main body 131 relative to the trolley 132 in the vertical direction (Z-axis direction in the figure). An example of such a connecting part 133 is a ball joint as shown in Figures 7 and 8.

[0032] When the main body 131 is rotationally displaced relative to the trolley 132, the working device 110 includes a pair of vertical guide sections 150 as an attitude adjustment section, as well as a pair of width guide sections 151 that adjust the attitude of the main body 131 in the vertical direction. Furthermore, the processing device 130 includes a pair of vertical contact sections 160 as an adjustment section, as well as two pairs of width contact sections 162 that contact the pair of width guide sections 151 in the width direction.

[0033] In this second embodiment, the width guide portion 151 is the wall surface of a pair of rectangular cylindrical holes extending in the attachment / detachment direction. The width contact portion 162 is a roller having a rotating shaft extending in the vertical direction. When the processing device 130 is attached to the work device 110, the two pairs of width contact portions 162 contact the width guide portion 151, which is the inner wall surface or the outer wall surface of the pair of holes, respectively, thereby adjusting the yaw orientation of the main body portion 131, which is rotatable in the yaw direction relative to the trolley 132, to the correct orientation. The trolley 132 is adjusted to the correct orientation in the yaw direction when the pair of processing device contact portions 111 provided on the work device 110 contact the pair of contacted portions 134 provided on the trolley 132, respectively, and alignment with the main body portion 131 is achieved.

[0034] It should be noted that the present invention is not limited to the embodiments described above. For example, other embodiments of the present invention may be realized by arbitrarily combining the components described herein, or by excluding some of the components. Furthermore, modifications obtained by applying various modifications to the above embodiments that a person skilled in the art could conceive of without departing from the spirit of the present invention, that is, the meaning indicated by the wording in the claims, are also included in the present invention.

[0035] For example, the universal joint that functions as the connecting part 133 may be mounted to the trolley 132 or the main body 131 so as to be rotatable in the yaw direction.

[0036] Furthermore, the posture adjustment section of the work device 110 is not limited to a rectangular hole shape. For example, any shape or structure can be selected, such as a plate-shaped member having a vertical surface including the attachment / detachment direction protruding from the work device 110.

[0037] Furthermore, the posture adjustment section is not limited to rollers attached to the arm 161. For example, the posture adjustment section may be a structure in which a highly sliding solid resin is brought into contact with the posture adjustment section.

[0038] Furthermore, if the center of gravity of the main body 131 can be set sufficiently close to the work device 110, the posture of the main body 131 will be stabilized even during transport, and the vibration damping section 136 on the side farther from the work device 110 may be removed. In particular, by removing the coil spring, the load in the positive rotational direction around the x-axis of the main body 131 can be reduced when the processing device 130 is coupled to the work device 110.

[0039] Furthermore, in the above-mentioned state, it is also possible to reduce the number of vibration damping units 136 by one by equivalently integrating the functions of the one vibration damping unit 136 closest to the work device 110 and the two vibration damping units 136 at both ends in the width direction. Specifically, by arranging the two vibration damping units 136 at both ends in the width direction closer to the work device 110 than the connecting unit 133, the vibration damping unit 136 closest to the work device 110 can be reduced by one, resulting in a total of two units.

[0040] (summary) The first embodiment of the work system 100 comprises 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 attached to and detached from the work device 110, wherein the processing device 130 comprises a main body 131 that performs processing on the work device 110 which is guided and attached by an upper and lower guide portion 150, a trolley 132 that supports the main body 131 and is transported on the floor surface 300, a connecting portion 133 that connects the main body 131 and the trolley 132 by allowing rotational displacement of the main body 131 relative to the trolley 132 in the direction of movement when attached to and detached from the work device 110, and in the width direction which intersects the attachment and detachment direction along the horizontal plane, and an adjustable portion which adjusts the posture of the main body 131 relative to the work device 110 by contacting a posture adjustment portion provided on the work device 110.

[0041] According to the first embodiment, since the bogie 132 supports most of the weight of the main body 131 via the connecting part 133, the posture of the main body 131 can be corrected with a low load.

[0042] The second embodiment of the work system 100 includes the first embodiment, wherein the center of gravity of the main body 131 is located between the connecting portion 133 and the portion to be adjusted in its projection onto the horizontal plane, and is positioned closer to the connecting portion than to the portion to be adjusted.

[0043] According to the second embodiment, the stability of the main body 131 of the processing device 130 can be improved during transport and other situations.

[0044] The third embodiment of the work system 100 includes the first or second embodiment, wherein the connecting portion 133 does not allow rotational displacement of the main body portion 131 relative to the trolley 132 in the vertical direction, the adjustable portion comprises a plurality of contact portions 134 provided on at least one of the main body portion 131 and the trolley 132 and spaced apart in the width direction, and the attitude adjustment portion comprises a processing device contact portion 111 that contacts each of the plurality of contact portions 134 in the attachment / detachment direction.

[0045] According to the third embodiment, the orientation of the yaw-direction processing device 130 can be corrected to the correct orientation.

[0046] The fourth embodiment of the work system 100 includes any of the first to third embodiments, wherein the posture adjustment unit comprises a pair of upper and lower guide units 150 that are spaced apart in the width direction and adjust the posture of the main body 131 around the attachment / detachment direction and around the width direction, and the part to be adjusted comprises a pair of upper and lower contact units 160 that respectively contact the pair of upper and lower guide units in the vertical direction.

[0047] According to the fourth aspect, the orientation of the processing device 130 in the pitch direction and the low direction can be corrected to the correct orientation.

[0048] The fifth aspect of the work system 100 includes the first or second aspect, wherein the connecting portion 133 allows rotational displacement of the main body portion 131 relative to the trolley 132 in a vertical direction along the vertical direction, the posture adjustment portion comprises a pair of vertical guide portions 150 arranged spaced apart in the width direction to adjust the posture of the main body portion 131 in the attachment / detachment direction and in the width direction, and a pair of width guide portions 151 to adjust the posture of the main body portion 131 in a vertical direction, and the adjusted portion comprises a pair of vertical contact portions 160 that abut against the pair of vertical guide portions 150 in the vertical direction, and a pair of width contact portions 162 that abut against the pair of width guide portions 151 in the width direction.

[0049] According to the fifth embodiment, the pitch, low, and yaw orientations of the main body 131 of the processing device 130 can be corrected to the correct orientation while it is separated from the trolley 132.

[0050] The sixth embodiment of the work system 100 includes any of the first to fifth embodiments and comprises a restricting unit 135 positioned between the trolley 132 and the main body 131, which restricts the rotational displacement of the main body 131 in the width direction to a predetermined angle.

[0051] According to the sixth embodiment, large tilting of the main body 131 relative to the trolley 132 can be prevented, and stability can be ensured when transporting the processing device 130.

[0052] The seventh embodiment of the work system 100 includes any of the first to sixth embodiments, and in a state in which the processing device 130 is attached to the work device 110, the center of gravity of the main body 131 is located relatively closer to the work device 110 than the center of rotation of the connecting part 133.

[0053] According to the seventh embodiment, the main body 131 is bent forward relative to the trolley 132, making it easier to set the starting position of the collision between the posture adjustment unit and the adjusted unit. In addition, it is possible to ensure running stability when transporting the processing unit 130.

[0054] The processing apparatus 130 of the eighth embodiment is a processing apparatus 130 that is transported on a floor surface 300 on which a work device 110 that performs work on an object is installed and attached to and detached from the work device 110, and comprises a main body 131 that performs processing on the work device 110 which is attached guided by an upper and lower guide portion 150, a trolley 132 that supports the main body 131 and is transported on the floor surface 300, a connecting portion 133 that connects the main body 131 and the trolley 132 by allowing rotational displacement of the main body 131 relative to the trolley 132 in the direction of movement when attached to and detached from the work device 110, and in the width direction which intersects the attachment and detachment direction along the horizontal plane, and an adjustable portion which adjusts the posture of the main body 131 relative to the work device 110 by contacting a posture adjustment portion provided on the work device 110.

[0055] According to the eighth aspect, since the weight of the main body 131 is supported by the bogie 132 via the connecting part 133, the posture of the main body 131 can be corrected with a low load. [Industrial applicability]

[0056] The present invention can be used for a processing device that travels on a floor on which a work line for objects, which is composed of work devices, is installed, and performs work on the attached work devices, and for a work system equipped with said processing device. [Explanation of symbols]

[0057] 100 work systems 110 Work equipment 111 Processing device contact part 130 Processing Unit 131 Main body 132 bogies 133 Connecting part 134 Abutted part 135 Regulatory Department 136 Vibration damping section 137 Wheels 150 Upper and lower guide section 151 Width guide section 160 Upper and lower contact parts 161 Arm 162 Width contact part 200 Automated Guided Vehicles 300 floor surface

Claims

1. A work system comprising a work device that performs work on an object, and a processing device that is transported on the floor surface on which the work device is installed and attached to and detached from the work device, The aforementioned processing apparatus is A main body that performs processing on the work device, which is guided and attached to the upper and lower guide portions of the work device, A trolley that supports the main body and is transported on the floor surface, A connecting portion that connects the main body and the trolley, allowing rotational displacement of the main body relative to the trolley in the direction of movement when the work device is attached to or detached, the direction of movement when the main body is attached to or detached from the work device, and in the width direction which intersects the attachment / detachment direction along the horizontal plane, The device includes an adjustable portion which, by contacting a posture adjustment portion of the work device, adjusts the posture of the main body relative to the work device. Work system.

2. The center of gravity of the main body is located between the connecting portion and the portion being adjusted, in its projection onto the horizontal plane, and is positioned closer to the connecting portion than to the portion being adjusted. The work system according to claim 1.

3. The aforementioned connecting portion is In the vertical direction, rotational displacement of the main body relative to the trolley is not permitted. The part to be adjusted is, The main body and the trolley are provided with a plurality of contact parts spaced apart in the width direction, The aforementioned posture adjustment unit is The processing device includes a contact portion that contacts each of the multiple contact portions in the attachment / detachment direction. The work system according to claim 1.

4. The aforementioned posture adjustment unit is It is provided with a pair of upper and lower guide parts that are spaced apart in the width direction and adjust the orientation of the main body in the direction of attachment / detachment and in the width direction, The part to be adjusted is, It comprises a pair of upper and lower contact portions that abut against a pair of the upper and lower guide portions in the vertical direction. The work system according to claim 3.

5. The aforementioned connecting portion is This allows rotational displacement of the main body relative to the trolley in the vertical direction. The aforementioned posture adjustment unit is It comprises a pair of upper and lower guide sections, spaced apart in the width direction, for adjusting the orientation of the main body in the attachment / detachment direction and in the width direction, and a pair of width guide sections for adjusting the orientation of the main body in the vertical direction, The part to be adjusted is, It comprises a pair of upper and lower contact portions that abut against a pair of upper and lower guide portions in the vertical direction, and a pair of width contact portions that abut against a pair of width guide portions in the width direction. The work system according to claim 1.

6. It is provided with a restricting unit positioned between the trolley and the main body, which restricts the rotational displacement of the main body in the width direction to a predetermined angle. The work system according to claim 1.

7. When the processing device is attached to the work device, the center of gravity of the main body is located relatively closer to the work device than the center of rotation of the connecting part. The work system according to claim 1.

8. A processing device that is transported on a floor surface where a work device for performing work on an object is installed, and that is attached to and detached from the work device, A main body that performs processing on the work device, which is guided and attached to the upper and lower guide portions of the work device, A trolley that supports the main body and is transported on the floor surface, A connecting portion that connects the main body and the trolley, allowing rotational displacement of the main body relative to the trolley in the direction of movement when the work device is attached to or detached, the direction of movement when the main body is attached to or detached from the work device, and in the width direction which intersects the attachment / detachment direction along the horizontal plane, The adjustment portion of the main body is adjusted in relation to the work device by contacting the posture adjustment portion of the work device, A processing device equipped with the following features.

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