Conveying device and control method for conveying device

Abstract

To create an assembly line that is less prone to damage. [Solution] The transport device (10) transports a work robot (1) that performs work on an object (100) being transported, and comprises a mounting section (13) on which the work robot (1) is placed, a transport section (14) that moves in the same direction as the transport direction of the object (100) and at the same transport speed, and a connecting section (11) that connects the mounting section (13) and the transport section (14), the connecting section (11) having a floating mechanism (12) that allows movement in a direction parallel to the transport direction between the mounting section (13) and the transport section (14).

Description

Technical Field

[0001] The present disclosure relates to a transport device or the like that transports a working robot that performs work on an assembly line or the like.

Background Art

[0002] On automobile assembly lines and the like, assembly is performed by an assembly robot while a vehicle body being assembled is transported by a transport machine. At this time, the assembly robot moves at the same speed as the transport speed of the vehicle body, and docks a part of itself with a part of the vehicle body to perform assembly.

[0003] For example, Patent Document 1 describes a bolt and nut supply device used on automobile assembly lines and the like, which is provided with a floating portion that allows the supply shaft portion to move in horizontal and vertical directions.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0005] As described above, during assembly, the vehicle body and the assembly robot are partially docked. If the transport of the vehicle body and the movement of the assembly robot stop for some reason during docking, the stop distances of the vehicle body and the assembly robot are different, so a positional deviation occurs between the vehicle body and the assembly robot. This may damage the vehicle body or the assembly robot.

[0006] Patent Document 1 does not describe anything about damage caused by positional deviation between the vehicle body and the assembly robot.

[0007] This invention has been made in view of the above-mentioned problems, and its purpose is to realize a transport device for an assembly robot that is less likely to damage the vehicle body or the assembly robot even if the positions of the vehicle body and the assembly robot are misaligned. [Means for solving the problem]

[0008] To solve the aforementioned problems, a transport device according to one aspect of the present disclosure is a transport device for a work robot that performs work on an object being transported, comprising: a mounting section on which the work robot is mounted; a transport section that moves in the same direction as the transport direction of the object and at the same transport speed; and a coupling section that connects the mounting section and the transport section, wherein the coupling section has a floating mechanism that allows movement between the mounting section and the transport section in a direction parallel to the transport direction.

[0009] To solve the aforementioned problems, a control method for a transport device according to one aspect of the present disclosure is a control method for a transport device of a work robot that performs work on an object being transported, the transport device comprising: a mounting section on which the work robot is mounted; a transport section that moves in the same direction as the transport direction of the object and at the same transport speed; and a coupling section that connects the mounting section and the transport section, the coupling section having a floating mechanism that allows movement in the transport direction between the mounting section and the transport section, and further comprising a regulating mechanism control unit that controls the floating function of the floating mechanism by a regulating mechanism, the regulating mechanism control unit comprising: a detection step that detects an abnormality during the work; and a release step that releases the regulating mechanism when the abnormality is detected. [Effects of the Invention]

[0010] According to one aspect of this disclosure, damage to the workpiece or the work robot can be prevented. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows an overview of the transport device and controller according to the embodiments of this disclosure. [Figure 2]This figure shows another example of a controller. [Figure 3] This is a simplified diagram illustrating an example of a regulatory mechanism. [Figure 4] This is a simplified diagram illustrating another example of a regulatory mechanism. [Figure 5] This is a simplified diagram illustrating yet another example of a regulatory mechanism. [Figure 6] This is a flowchart showing the flow of regulatory processing by the regulatory body's control unit. [Modes for carrying out the invention]

[0012] Hereinafter, one embodiment of the present disclosure will be described in detail. Figure 1 is a diagram showing an example of a manufacturing line including the conveying device 10 according to this embodiment. In this example of a manufacturing line, an automobile assembly line is shown.

[0013] The transport device 10 transports the work robot 1, which performs work on the target product 100, on the assembly line. The work robot 1 is transported by the transport device 10 in the same direction and at the same speed as the target product 100, and performs work on the target product 100. By moving the target product 100 and the work robot 1 in the same direction and at the same speed, the work robot 1 can perform work on the target product 100 appropriately.

[0014] As shown in Figure 1, the transport device 10 includes a mounting section 13, a connecting section 11, and a transport section 14.

[0015] The mounting section 13 is the part on which the work robot 1 is mounted. The transport section 14 moves in the same direction as the transport direction of the object 100 and at the same transport speed. The coupling section 11 connects the mounting section 13 and the transport section 14 and includes a floating mechanism 12 and a regulating mechanism 20.

[0016] The floating mechanism 12 allows movement between the mounting section 13 and the transport section 14 in a direction parallel to the transport direction.

[0017] The restriction mechanism 20 restricts the floating function of the floating mechanism 12. When the floating function of the floating mechanism 12 is restricted by the restriction mechanism 20, the placement section 13 and the conveyance section 14 are connected in a state with no play. On the other hand, when the floating function of the floating mechanism 12 is not restricted by the restriction mechanism 20, the placement section 13 and the conveyance section 14 are connected in a state with play in the conveyance direction. That is, positional deviation between the placement section 13 and the conveyance section 14 is allowed by the length permitted by the floating mechanism 12. Hereinafter, restricting the floating function of the floating mechanism 12 is also simply referred to as restricting the floating mechanism 12. Further, releasing the restriction on the floating function of the floating mechanism 12 is also simply referred to as releasing the restriction of the floating mechanism 12.

[0018] Further, a controller 50 that controls the entire assembly line is separately provided. The controller 50 includes a restriction mechanism control unit 30. The restriction mechanism control unit 30 controls whether or not the floating mechanism 12 is restricted by the restriction mechanism 20.

[0019] For example, the restriction mechanism control unit 30 may release the restriction of the floating mechanism 12 by the restriction mechanism 20 when the following conditions (1) to (3) are satisfied.

[0020] (1) When the difference between the conveyance speed of the target product 100 and the conveyance speed of the conveyance section 14 exceeds a first threshold, or when the difference between the current position of the target product 100 and the current position of the work robot 1 exceeds a second threshold (2) When an abnormality is detected by the work robot 1 (3) When a signal related to an abnormality is received from the equipment that conveys the target product 100 Regarding the above (1), the transport speed of the target object 100 and the transport speed of the working robot 1 can be measured using a known technique. The restriction mechanism control unit 30 determines whether or not the difference between the transport speed of the target object 100 and the transport speed of the working robot 1, which is measured using a known technique, exceeds a first threshold value, and releases the restriction by the restriction mechanism 20 when the difference exceeds the first threshold value. Examples of the first threshold value may include a speed difference that induces a stress equal to 80% of the allowable stress of a specific component, or a speed difference that causes a relative position error between the target object 100 and the transport unit 14 of ±2 mm or more.

[0021] In addition, the current position of the target object 100 and the current position of the working robot 1 can be grasped by, for example, the following methods. · A position information seal is affixed to each of the target object 100 and the working robot 1, and the current position is grasped by capturing an image of the position information seal with a camera or the like. The position information seal may be, for example, a QR Code (registered trademark). · The target object 100 and the working robot 1 are imaged with a camera or the like to grasp their current positions. · The current positions of the target object 100 and the working robot 1 are grasped based on information obtained by an encoder (not shown).

[0022] The second threshold value may be, for example, X±2 mm. Here, X is the difference between the position of the target object 100 and the position of the working robot 1 when the work is being performed without any problem.

[0023] Regarding the above (2), for example, the working robot 1 may determine that an abnormality has been detected when an abnormal value is detected by a force sensor (not shown) provided in a connection portion (not shown) that is a portion connected to the target object 100. Alternatively, it may be determined that an abnormality has been detected when the current value accompanying the operation of the working robot 1 during work becomes an abnormal value. Furthermore, it may be determined that an abnormality has been detected when various values (for example, a current value and a torque value) measured along with the work of the working robot 1 become abnormal. Alternatively, it may be determined that an abnormality has been detected when the torque value of a motor (not shown) provided in the working robot 1 becomes abnormal.

[0024] Regarding (3) above, the nature of the anomaly and the signals related to the anomaly are not particularly limited. For example, an event considered to be an anomaly may be set in advance, and when that event occurs, a signal related to the anomaly may be received.

[0025] For example, if the regulating mechanism 20 is configured to perform regulation using a biasing force described later, the regulating mechanism control unit 30 controls the regulation by the regulating mechanism 20 by controlling the biasing force. Also, if the regulating mechanism 20 is implemented using an electromagnet, the regulating mechanism control unit 30 controls the regulation by controlling the current supplied to the electromagnet.

[0026] Figure 2 shows another example of controller 50, controller 50A. The controller 50A shown in Figure 2 is an example in which the regulatory mechanism control unit 30A includes a detection unit 31 and a biasing force control unit 32.

[0027] The detection unit 31 detects abnormalities in the assembly line during operation. An abnormality in the assembly line may be a condition (release condition) under which the aforementioned regulatory mechanism control unit 30 releases the restriction. That is, the regulatory mechanism control unit 30 may detect that the release condition has been met by the detection unit 31 and release the restriction by the regulatory mechanism 20.

[0028] The biasing force control unit 32 controls the biasing force of the biasing unit 212 (described later) in the regulating mechanism 20. Specifically, when an abnormality is detected by the detection unit 31, the biasing force control unit 32 controls the biasing force of the biasing unit 212 to release the regulation by the regulating mechanism 20. As described later, if the regulating mechanism 20 is configured to perform the function of the floating mechanism 12 by the biasing force of the biasing unit 212, the regulation by the regulating mechanism 20 can be controlled by controlling the biasing force of the biasing unit 212. For example, the regulation can be performed by setting the biasing force to a predetermined value or higher, and then released by setting it to a value lower than the predetermined value.

[0029] In other words, the regulating mechanism control unit 30, in the regulating mechanism 20 described later, does not allow movement in the transport direction between the mounting section 13 and the transport section 14 when the biasing force is greater than or equal to a predetermined value while the projection 21 is fitted into the receiving hole 221. On the other hand, when the biasing force is less than the predetermined value, it allows movement in the transport direction between the mounting section 13 and the transport section 14.

[0030] As described above, the transport device 10 according to this disclosure is a transport device for a work robot 1 that performs work on an object 100 during transport. The transport device 10 comprises a mounting section 13 on which the work robot 1 is mounted, a transport section 14 that moves in the same direction as the transport direction of the object 100 and at the same transport speed, and a connecting section 11 that connects the mounting section 13 and the transport section 14. The connecting section 11 has a floating mechanism 12 that allows movement between the mounting section 13 and the transport section 14 in a direction parallel to the transport direction.

[0031] In conventional assembly lines, there was no configuration that incorporated a floating mechanism into the transport device that transports the work robot. According to the transport device 10 of this disclosure, a floating mechanism 12 is provided between the mounting section 13 and the transport section 14. The floating mechanism 12 allows for positional misalignment between the mounting section 13 and the transport section 14. Therefore, even if the transport of the workpiece 100 stops during operation and a positional misalignment between the workpiece 100 and the work robot 1 is likely to occur, the floating mechanism 12 allows for positional misalignment between the mounting section 13 on which the work robot 1 is mounted and the transport section 14 that is transporting the work robot 1. Thus, the positional misalignment between the workpiece 100 and the work robot 1 is absorbed. This makes it possible to prevent damage to the workpiece 100 or the work robot 1.

[0032] Furthermore, by arranging the floating mechanism 12 between the mounting section 13 and the transport section 14, the floating mechanism 12 only needs to be configured to allow misalignment between the mounting section 13 and the transport section 14 in a direction parallel to the transport direction, thereby simplifying the structure of the floating mechanism 12.

[0033] [Examples of 20 regulatory structures] Next, an example of the regulating mechanism 20 will be described with reference to Figures 3-5. Figures 3-5 are cross-sectional views showing an example of the structure of the regulating mechanism 20. Figures 3-5 show cross-sections of the regulating mechanism 20 (20A, 20B) cut in the direction of transport.

[0034] [Structure example 1] Figure 3 shows an example of the structure of the regulatory mechanism 20. Figure 301 shows the state in which the floating mechanism 12 is regulated by the regulatory mechanism 20, and Figure 302 shows the state in which the regulation by the regulatory mechanism 20 is released.

[0035] The regulating mechanism 20 includes a first part 121 connected to the mounting part 13 and a second part 122 connected to the transport part 14 in the floating mechanism 12. The first part 121 is provided with a projection 21. The projection 21 is biased toward the second part 122 by a biasing part 212 and fits into a receiving hole 221 provided in the second part 122. The biasing part 212 may, for example, bias the projection 21 by the force of supplied air (such as pneumatics). Alternatively, the biasing part 212 may be composed of an elastic body such as a spring, and the projection 21 may be biased by the restoring force of the elastic body.

[0036] Furthermore, the projection 21 has a taper 211 on the side facing the transport direction at its tip. The receiving hole 221 is formed such that the surface facing the conveying direction follows the taper 211 of the projection 21.

[0037] The projection 21 is biased by the biasing portion 212 and fitted into the receiving hole 221, thereby fixing the first portion 121 and the second portion 122 in place and restricting the floating mechanism 12. This state is the state in which the floating mechanism 12 is restricted.

[0038] On the other hand, the state in which the restriction of the floating mechanism 12 is released is a state in which the projection 21 can detach from the receiving hole 221. If the biasing part 212 is biased by air force, this state can be achieved by weakening or eliminating the air force. If the biasing part 212 is made of an elastic body, this can be achieved by applying a force in the opposite direction to the direction in which it is biased by the restoring force.

[0039] In the example shown in Figure 3, the side surface of the projection 21 in the transport direction is tapered 211, and the surface of the receiving hole 221 is shaped to follow the taper 211 of the projection 21. By weakening the biasing force of the biasing part 212, the restriction by the regulating mechanism 20 can be released. Furthermore, by controlling the biasing force, the degree of restriction by the regulating mechanism 20, in other words, the distance of deviation that is allowed, can be controlled.

[0040] As described above, the floating mechanism 12 includes a first part 121 connected to the mounting part 13 and a second part 122 connected to the transport part 14. The first part 121 has a tapered projection 21 that is biased toward the transport part 14 by the variable biasing force of the biasing part 212. The second part 122 includes a plate part 22 in which a receiving hole 221 is provided, the side surface of which is tapered in a direction parallel to the transport direction, so that the projection 21 fits into it. The regulating mechanism 20 is realized by the projection 21 and the plate part 22, and the regulating mechanism is performed by the biasing force of the biasing part 212 causing the projection 21 to fit into the receiving hole 221.

[0041] As described above, the restricting mechanism 20 achieves restriction by the engagement of the projection 21 and the receiving hole 221 due to a biasing force. Therefore, if a force is applied in a direction that weakens the biasing force of the restricting mechanism 20 due to any circumstances such as the occurrence of a malfunction, the restriction will be released. For example, if a force is applied that causes the relative position of the target product 100 and the work robot 1 to shift due to a malfunction, the restriction of the floating mechanism 12 will be released. Thus, according to the restricting mechanism 20 of this disclosure, the restriction of the floating mechanism 12 can be released without requiring any special processing in the event of a malfunction or the like.

[0042] [Structure example 2] Figure 4 shows another structural example of the regulating mechanism 20, the regulating mechanism 20A. Figure 401 shows the state in which the floating mechanism 12 is regulated by the regulating mechanism 20A, and Figure 402 shows the state in which the regulation by the regulating mechanism 20A is released.

[0043] The regulating mechanism 20A shown in Figure 4 differs from the regulating mechanism 20 shown in Figure 3 in that the tip of the projection 21A is not tapered, and the projection 21A, which has a rectangular cross-section, is shaped to fit into the receiving hole 221A provided in the second part 122.

[0044] The restricting mechanism 20A shown in Figure 4 also enables the restriction by the restricting mechanism 20 by fitting the projection 21A into the receiving hole 221. Furthermore, the restriction by the restricting mechanism 20 can be released when the projection 21A is completely disengaged from the receiving hole 221. In this case, for example, the biasing part 212 may be equipped with a pulling part (not shown), and the pulling part may be used to pull the projection 21A toward the first part 121, thereby completely disengaging the projection 21A from the receiving hole 221.

[0045] In other words, the floating mechanism 12 includes a first part 121 that connects to the mounting part 13 and a second part 122 that connects to the transport part 14. The first part 121 has a projection 21A, and the second part 122 includes a plate part 22 in which a receiving hole 221A is provided so that the projection 21A fits. The regulating mechanism 20A is realized by the projection 21A and the plate part 22, and regulating is performed by the projection 21A fitting into the receiving hole 221A.

[0046] [Structure example 3] Figure 5 shows another structural example of the regulatory mechanism 20, namely regulatory mechanism 20B. Figure 501 shows the state in which the floating mechanism 12 is regulated by regulatory mechanism 20B, and Figure 502 shows the state in which the regulation by regulatory mechanism 20B is released.

[0047] In the example shown in Figure 5, the first part 121 is equipped with an electromagnet 23X, and the second part 122 is equipped with a magnet 23Y. The regulating mechanism 20B regulates the floating mechanism 12 by magnetically coupling the electromagnet 23X and the magnet 23Y. That is, when regulating by the regulating mechanism 20B, an electric current is passed through the electromagnet 23X, causing the electromagnet 23X to act as a magnet and couple with the magnet 23Y. On the other hand, when releasing the regulation by the regulating mechanism 20B, no electric current is passed through the electromagnet 23X, resulting in a state where the electromagnet 23X and the magnet 23Y are not coupled. This allows for control of the regulation by the regulating mechanism 20B.

[0048] Furthermore, both electromagnet 23X and magnet 23Y may be electromagnets. Also, magnet 23Y may be an electromagnet.

[0049] The above configuration means that the coupling part 11 is coupled by magnetic force. Furthermore, when the generation of magnetic force is stopped, or when a force exceeding the coupling force is applied, the restriction on the function of the floating mechanism 12 is released.

[0050] [Processing flow] Referring to Figure 6, an example of when regulation is performed by the regulation mechanism control unit 30 in this embodiment will be described. Figure 6 is a flowchart showing the flow of regulation processing by the regulation mechanism control unit 30. Here, the processing flow when an abnormality occurs on the assembly line will be described.

[0051] As shown in Figure 6, 601, the assembly line is in a state where the regulation mechanism 20 is in effect (S101). When the work robot 1 connects (docks) with the target product 100 (S102), the status monitoring mode is turned ON (S103). Subsequently, the work robot 1 proceeds with its work, and when the work is completed, the docking between the work robot 1 and the target product 100 is undone (S104). Then, the status monitoring mode is turned OFF (S105). The status monitoring mode is a mode in which the controller 50 monitors the status of the assembly line.

[0052] Figure 6, section 602, shows the processing flow when the status monitoring mode is ON. When the status monitoring mode is ON, if an abnormality is detected on the assembly line (YES in S201, detection step), the regulating mechanism control unit 30 releases the restriction by the regulating mechanism 20 (S202, release step). This releases the restriction of the floating function by the floating mechanism 12. As a result, even if a positional misalignment is likely to occur between the target product 100 and the work robot 1, the work robot 1 will move together with the target product 100. A relative positional misalignment between the transport device 10 that transports the work robot 1 and the target product 100 is permitted. Therefore, even if a positional misalignment is likely to occur between the target product 100 and the work robot 1 while they are connected, the risk of malfunction, damage, etc., can be reduced.

[0053] The above outlines the processing flow when an abnormality occurs on the assembly line.

[0054] The above explanation assumes that the target item 100 is transported, but the invention of this disclosure is not limited to this. Even if the target item 100 is not transported, for example, the status monitoring mode may be turned ON and status monitoring performed when the work robot 1 grasps an assembly part to be attached to the target item 100.

[0055] Furthermore, while the above describes a configuration in which restrictions are released when an abnormality is detected, the timing of releasing restrictions is not limited to when an abnormality is detected. For example, the configuration may be such that the restriction mechanism control unit releases the restrictions imposed by the restriction mechanism when a restriction release flag, which is a command to release the restriction mechanism, is detected.

[0056] [Examples of implementation using software] The function of the regulatory mechanism control unit 30 is a program that causes the computer to function as the regulatory mechanism control unit 30, and can be realized by a program that causes the computer to function as the regulatory mechanism control unit 30.

[0057] In this case, the regulatory mechanism control unit 30 includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the above program. By executing the above program using this control device and storage device, each of the functions described in each of the above embodiments is realized.

[0058] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the above device. In the latter case, the program may be supplied to the above device via any wired or wireless transmission medium.

[0059] Furthermore, some or all of the functions of each of the above control blocks can also be implemented by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the above control blocks are formed is also included in the scope of this disclosure. In addition, it is also possible to implement the functions of each of the above control blocks by, for example, a quantum computer.

[0060] Furthermore, each process described in the above embodiments may be performed by AI (Artificial Intelligence). In this case, the AI ​​may operate on the control device described above, or it may operate on other devices (for example, an edge computer or a cloud server).

[0061] 〔summary〕 A transport device according to Embodiment 1 of the present disclosure is a transport device for a work robot that performs work on an object being transported, comprising: a mounting section on which the work robot is mounted; a transport section that moves in the same direction as the transport direction of the object and at the same transport speed; and a coupling section that connects the mounting section and the transport section, wherein the coupling section has a floating mechanism that allows movement between the mounting section and the transport section in a direction parallel to the transport direction.

[0062] Conventionally, there was no configuration in which a floating mechanism was placed between the mounting section and the transport section. However, with the above configuration, a floating mechanism is placed between the mounting section and the transport section, and the floating mechanism allows for positional misalignment between the mounting section and the transport section. Therefore, even if the transport of the object stops during operation and a positional misalignment between the object and the work robot is likely to occur, the positional misalignment between the object and the work robot is absorbed by the floating mechanism, which allows for misalignment between the mounting section on which the work robot is placed and the transport section that is transporting the work robot. This helps to prevent damage to the object or the work robot.

[0063] Furthermore, by placing a floating mechanism between the mounting section and the transport section, the floating mechanism only needs to be configured to allow misalignment between the mounting section and the transport section in a direction parallel to the transport direction, thereby simplifying the structure of the floating mechanism.

[0064] A transport device according to aspect 2 of the present disclosure comprises, in aspect 1, a regulating mechanism that restricts the allowance of movement by the floating mechanism, and a regulating mechanism control unit that controls whether or not to perform the regulating by the regulating mechanism. According to the above configuration, it is possible to control whether or not to allow movement by the floating mechanism.

[0065] In the transport device according to aspect 3 of this disclosure, in aspect 2, if a predetermined condition is met, the regulating mechanism control unit releases the regulation by the regulating mechanism. According to the above configuration, the regulation by the regulating mechanism is released when a predetermined condition is met. Therefore, if the predetermined condition is set to the state in which the restriction of the floating function of the floating mechanism is to be released, the restriction of the floating function can be released when the desired state is reached.

[0066] In the transport device according to aspect 4 of this disclosure, the predetermined conditions are met when, in aspect 3, at least one of the following occurs: (1) when the difference between the transport speed of the object and the transport speed of the transport unit exceeds a first threshold, or when the difference between the current position of the object and the current position of the work robot exceeds a second threshold, (2) when the work robot detects an abnormality, or (3) when a signal related to an abnormality is received from the equipment transporting the object. If the difference between the transport speed of the object and the transport speed of the transport unit becomes large, or if a positional discrepancy occurs between the object and the work robot, a large load may be placed on the work robot, etc., potentially leading to malfunction or damage. Similarly, if an abnormality is detected by the work robot, a load may be placed on the work robot, etc., potentially leading to malfunction or damage. Furthermore, if an abnormality occurs in the equipment transporting the object, there is a high possibility that a difference will occur between the transport speed of the object and the transport speed of the transport unit, potentially leading to malfunction or damage to the work robot, etc. According to the above configuration, in such cases, the regulation by the regulatory mechanism is released, and the floating mechanism functions. This absorbs any positional discrepancies between the workpiece and the robot, reducing the possibility of malfunction or damage to the robot.

[0067] In the transport device according to aspect 5 of this disclosure, in aspect 4, the work robot detects an abnormality when it detects an abnormal value with a force sensor provided at the connection part that connects to the object, or when the measured value associated with the operation of the work robot during work becomes an abnormal value. According to the above configuration, in situations where the work robot is likely to be subjected to a load, the restriction by the regulating mechanism is released and the floating mechanism functions. As a result, the positional difference between the object and the work robot is absorbed, and the possibility of the work robot malfunctioning or being damaged is reduced.

[0068] In the transport device according to aspect 6 of this disclosure, in any of aspects 2 to 5, the regulating mechanism performs the regulating by a biasing force, and the regulating mechanism control unit releases the regulating when the biasing force falls below a predetermined value. According to the above configuration, it is possible to control whether or not to allow movement by the floating mechanism using the biasing force.

[0069] The conveying device according to aspect 7 of the present disclosure, in aspect 6, the floating mechanism includes a first part connected to the aforementioned storage part and a second part connected to the conveying part, the first part having a projection, and the second part having a plate portion having a receiving hole into which the projection fits, and the regulating mechanism is realized by the projection and the plate portion, and the regulating is performed by the projection fitting into the receiving hole. With the above configuration, a regulating mechanism that restricts the floating mechanism can be realized by the projection and the receiving hole. This makes it possible to realize a regulating mechanism with a simple configuration.

[0070] In the transport device according to aspect 8 of the present disclosure, in aspect 7, the restricting mechanism control unit, when the projection is fitted into the receiving hole, does not allow movement in the transport direction between the placement unit and the transport unit when the biasing force is greater than or equal to a predetermined value, and allows movement in the transport direction between the placement unit and the transport unit when the biasing force is less than the predetermined value. With the above configuration, by controlling the biasing force, it is possible to control whether or not to restrict the floating function of the floating mechanism, so that the restriction of the floating function of the floating mechanism can be easily controlled.

[0071] The conveying device according to aspect 9 of the present disclosure, in aspect 7, the floating mechanism includes a first part connected to the above-described placement section and a second part connected to the conveying section, wherein the first part has a tapered projection that is biased toward the conveying section by a variable biasing force, and the second part has a plate portion provided with a receiving hole in which the side surface in a direction parallel to the conveying direction is tapered so that the projection fits, and the restricting mechanism is realized by the projection and the plate portion, and the restricting is performed by the projection fitting into the receiving hole due to the biasing force. With the above configuration, a floating mechanism that allows movement in the conveying direction between the placement section and the conveying section can be realized with a tapered projection and a receiving hole with a tapered side surface. This makes it possible to realize a floating mechanism with a simple configuration.

[0072] A transport device according to aspect 10 of the present disclosure comprises, in any of aspects 6 to 9, a detection unit for detecting abnormalities during the operation and a biasing force control unit for controlling the biasing force, wherein when the detection unit detects an abnormality, the biasing force control unit reduces the biasing force to a value less than a predetermined value. With this configuration, the restriction on the floating function of the floating mechanism can be released simply by reducing the biasing force to a value less than a predetermined value in the event of an abnormality, thus enabling highly responsive control with a simple configuration.

[0073] In the conveying device according to aspect 11 of the present disclosure, in any of aspects 1 to 5, the coupling part performs the coupling by magnetic force, and when the generation of the magnetic force is stopped, or when a force exceeding the coupling by magnetic force is applied, the restriction on the floating function of the floating mechanism is released. According to the above configuration, coupling is performed by magnetic force, and the restriction on the floating function of the floating mechanism can be controlled by controlling the magnetic force. Furthermore, when a force exceeding the magnetic force is applied, the restriction on the floating function of the floating mechanism can also be released.

[0074] A method for controlling a transport device according to aspect 12 of the present disclosure is a method for controlling a transport device for a work robot that performs work on an object being transported, wherein the transport device comprises a mounting section on which the work robot is mounted, a transport section that moves in the same direction as the transport direction of the object and at the same transport speed, and a coupling section that connects the mounting section and the transport section, the coupling section having a floating mechanism that allows movement in the transport direction between the mounting section and the transport section, and further comprising a regulating mechanism control unit that controls the restriction of the floating function of the floating mechanism by a regulating mechanism, the regulating mechanism control unit including a detection step for detecting an abnormality during the work, and a release step for releasing the restriction by the regulating mechanism when the abnormality is detected. According to the above method, when an abnormality is detected, the restriction by the regulating mechanism is released. That is, the restriction of the floating function of the floating mechanism is released. This makes it possible to suppress damage to the work robot due to a shift in the relative position between the object and the work robot in the event of an abnormality.

[0075] This disclosure is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of this disclosure. [Explanation of Symbols]

[0076] 1. Work robot 1 10 Conveying device 10 11 Joint 12 Floating Mechanism 121 Part 1 21 Protrusion 211 Taper 212 biasing section 122 Part 2 22 Board part 221 Receiving hole 13 Mounting section 14 Conveying section 20 Regulatory bodies 30 Regulatory Mechanism Control Unit 31 Detection unit 32. Force Control Unit 50 controllers 100 items

Claims

1. A transport device for a work robot that performs operations on an object while it is being transported, A mounting section on which the aforementioned work robot is placed, A conveying unit that moves in the same direction as the conveying direction of the aforementioned object and at the same conveying speed, It comprises a connecting part that connects the mounting part and the transport part, The conveying device has a floating mechanism that allows the connecting portion to move in a direction parallel to the conveying direction between the previously described placement portion and the conveying portion.

2. A regulating mechanism that restricts the permissibility of the movement by the floating mechanism, The transport device according to claim 1, further comprising a regulatory mechanism control unit that controls whether or not to perform the regulation by the regulatory mechanism.

3. The transport device according to claim 2, wherein the regulatory mechanism control unit releases the regulation by the regulatory mechanism when predetermined conditions are met.

4. The case in which the aforementioned predetermined conditions are met means that (1) If the difference between the transport speed of the object and the transport speed of the transport unit exceeds a first threshold, or if the difference between the current position of the object and the current position of the work robot exceeds a second threshold, (2) If the work robot detects an abnormality, (3) If a signal indicating an abnormality is received from the equipment that transports the item, The conveying device according to claim 3, wherein at least one of the following:

5. The transport device according to claim 4, wherein the work robot detects an abnormality when it detects an abnormal value with a force sensor provided at the connection part that connects to the object, or when the measured value associated with the operation of the work robot during work becomes an abnormal value.

6. The aforementioned regulatory body enforces the regulations through biased influence. The conveying device according to claim 2, wherein the regulating mechanism control unit releases the regulating force when it falls below a predetermined value.

7. The floating mechanism includes a first part connected to the previously described mounting section and a second part connected to the transport section. The first portion has a projection, The second portion has a plate portion in which a receiving hole is provided so that the projection can be fitted, The conveying device according to claim 6, wherein the restricting mechanism is realized by the projection and the plate, and the restricting is performed by the projection fitting into the receiving hole.

8. The regulating mechanism control unit is configured such that the projection is fitted into the receiving hole. When the biasing force is greater than or equal to a predetermined value, movement in the transport direction between the aforementioned placement unit and the transport unit is not permitted. The conveying device according to claim 7, wherein when the biasing force is less than a predetermined value, movement in the conveying direction between the above-described placement unit and the conveying unit is permitted.

9. The floating mechanism includes a first part connected to the previously described mounting section and a second part connected to the transport section. The first portion has a tapered projection that is biased in the direction of the conveying section by a variable biasing force, The second portion has a plate portion in which a receiving hole is provided, the side surface in the direction parallel to the conveying direction being tapered, so that the projection can be fitted into it. The conveying device according to claim 7, wherein the restricting mechanism is realized by the projection and the plate, and the restricting is performed by the projection fitting into the receiving hole due to the biasing force.

10. A detection unit for detecting abnormalities during the aforementioned work, The system comprises a biasing force control unit that controls the biasing force, The transport device according to claim 6, wherein when the detection unit detects an abnormality, the biasing force control unit reduces the biasing force to a value less than the predetermined value.

11. The aforementioned coupling portion performs the coupling by magnetic force, The conveying device according to claim 1 or 2, wherein the restriction on the floating function of the floating mechanism is released when the generation of the magnetic force is stopped or when a force exceeding the coupling due to the magnetic force is applied.

12. A method for controlling a transport device of a work robot that performs operations on an object while it is being transported, The transport device comprises a mounting section on which the work robot is placed, a transport section that moves in the same direction as the transport direction of the object and at the same transport speed, and a connecting section that connects the mounting section and the transport section. The coupling portion has a floating mechanism that allows movement in the transport direction between the previously described placement portion and the transport portion. Furthermore, the system includes a regulatory mechanism control unit that controls the floating function of the floating mechanism by a regulatory mechanism, The aforementioned regulatory mechanism control unit is A detection step for detecting an abnormality during the aforementioned work, A method for controlling a transport device, comprising a release step of releasing the restriction by the regulatory mechanism when the aforementioned abnormality is detected.

Images