Work system and manufacturing method of products

Abstract

The present invention provides a work system and a method for manufacturing a product that can perform a predetermined work on a target material while the target material is being transported without increasing the size of the apparatus. [Solution] The work system comprises a traveling cart (5) equipped with a work tool and which travels over the target material (1) being transported to perform specified work on the target material, a detection device (6) which detects the position and transport speed of the target material being transported, a handling device (7) which performs at least one of placing the traveling cart on the target material being transported and recovering the traveling cart from the target material being transported, and a control device (10) which controls the operation of the handling device based on the detected position and transport speed of the target material.

Description

[Technical field]

[0001] The present disclosure relates to a working system and a method for manufacturing a product. The present disclosure particularly relates to a working system and a method for manufacturing a product, which perform a predetermined operation on a target material such as a steel product being transported. [Background technology]

[0002] For example, in a manufacturing line for steel products, the cutting process of the target material may be carried out on the manufacturing line (online) after the rolling process of the target material. In the cutting process, defects such as burrs may occur on the cut surface of the target material, but conventionally, inspection and removal of defects has been carried out outside the manufacturing line (offline) by workers by visual inspection and grinding.

[0003] Here, methods for inspecting and removing defects online are being considered. For example, Patent Document 1 discloses a system that includes fixed rollers that fix the position of a product during transportation, and processes the product by pressing a grinding wheel against the end face of the product fixed by the fixed rollers with a cylinder. Patent Document 2 discloses a system that runs a self-propelled robot over a steel plate and inspects the steel plate for defects and thickness using the self-propelled robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6120543 [Patent Document 2] Patent No. 5999214 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, in the system of Patent Document 1, the product is processed while being fixed by fixed rollers, so that the product can be processed with high precision. However, when the product is a relatively light product with a small cross-sectional area such as a rail or a right-angle scalene steel, the equipment cost for the fixed rollers becomes inexpensive and it becomes an economical method, but when the product is a large-section H-beam or a large unit-weight steel material such as a steel sheet pile or a thick plate, the equipment becomes large-scale and the introduction cost rises.

[0006] The system in Patent Document 2 is based on the premise that a self-propelled robot travels on steel plates placed outside the production line (offline), making it difficult to use the system to inspect target materials being transported on the production line (online).

[0007] The object of the present disclosure, made in consideration of the above circumstances, is to provide a work system and a product manufacturing method that can perform specified work on a target material while the target material is being transported without increasing the size of the equipment. [Means for solving the problem]

[0008] (1) A work system according to an embodiment of the present disclosure includes: a traveling cart that is equipped with a work tool and that performs a predetermined operation on the target material while traveling on the target material being transported; A detection device for detecting a position and a conveying speed of the object being conveyed; a handling device that performs at least one of placing the traveling cart on the target material during transportation and recovering the traveling cart from the target material during transportation; and a control device that controls the operation of the handling device based on the detected position and conveying speed of the object material.

[0009] (2) As an embodiment of the present disclosure, in (1), The handling device includes an upstream handling device that is arranged upstream in the conveying direction of the target material and places the running cart on the target material, and a downstream handling device that is arranged downstream in the conveying direction of the target material and retrieves the running cart from the target material.

[0010] (3) As an embodiment of the present disclosure, in (1) or (2), The detection device is a camera that captures a moving image of the target material from above the target material.

[0011] (4) As an embodiment of the present disclosure, in any one of (1) to (3), The control device synchronizes the detected conveying speed of the target material with the operating speed of the handling device when at least one of placing the traveling cart on the target material during transport and recovering the traveling cart from the target material during transport is performed.

[0012] (5) As an embodiment of the present disclosure, in any one of (1) to (4), The traveling cart is equipped with a traveling position correction mechanism that detects the position of an edge of the target material while traveling over the target material being transported and corrects the traveling position of the traveling cart based on the position of the edge.

[0013] (6) A method for producing a product according to an embodiment of the present disclosure includes: a detection step of detecting a position and a conveying speed of the object being conveyed; a placing step of controlling an operation of a handling device based on the detected position and conveying speed of the target material, and placing a traveling cart on the target material being conveyed by the handling device; a work process in which the traveling cart is caused to travel over the target material and a predetermined work is performed on the target material being transported by a work tool provided on the traveling cart; and a recovery process of recovering the traveling cart from the target material being transported. Effect of the Invention

[0014] According to the present disclosure, it is possible to provide a work system and a product manufacturing method that can perform a predetermined operation on a target material while the target material is being transported, without increasing the size of the apparatus. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating a target material. [Diagram 2] FIG. 2 is a diagram illustrating an overview of a work system according to an embodiment of the present disclosure. [Figure 3A] FIG. 3A is a diagram illustrating a configuration example of the traveling cart. [Figure 3B] FIG. 3B is a diagram illustrating an example of the configuration of the traveling cart. [Figure 3C] FIG. 3C is a diagram illustrating an example of the configuration of the traveling cart. [Figure 3D] FIG. 3D is a diagram illustrating an example of the configuration of the traveling cart. [Figure 4] FIG. 4 is a diagram for explaining placement of the traveling carriage. [Diagram 5] FIG. 5 is a diagram illustrating recovery of the traveling cart. [Figure 6A] FIG. 6A is a diagram illustrating a travel route of the traveling carriage. [Figure 6B] FIG. 6B is a diagram illustrating a travel route of the traveling carriage. [Figure 7A] FIG. 7A is a diagram illustrating a travel route of a traveling carriage that grinds a workpiece. [Figure 7B] FIG. 7B is a diagram illustrating the travel route of the traveling carriage that grinds the workpiece. [Figure 7C] FIG. 7C is a diagram illustrating a travel route of the traveling carriage that grinds the workpiece. [Figure 7D] FIG. 7D is a diagram for explaining the travel route of the traveling carriage that grinds the workpiece. [Figure 7E] FIG. 7E is a diagram illustrating a travel route of the traveling carriage that grinds the workpiece. [Figure 7F] FIG. 7F is a diagram for explaining the travel route of the traveling carriage that grinds the workpiece. [Figure 7G] FIG. 7G is a diagram for explaining the travel route of the traveling carriage that grinds the workpiece. [Figure 7H] FIG. 7H is a diagram for explaining the travel route of the traveling carriage that grinds the workpiece. [Figure 7I] FIG. 7I is a diagram for explaining the travel route of the traveling carriage that grinds the workpiece. [Figure 7J] FIG. 7J is a diagram for explaining a travel route of a traveling carriage that grinds a workpiece. [Figure 7K] FIG. 7K is a diagram for explaining a travel route of the traveling carriage that grinds the workpiece. [Figure 7L] FIG. 7L is a diagram for explaining the travel route of the traveling carriage that grinds the workpiece. [Figure 8A] FIG. 8A is a diagram for explaining the traveling position correction. [Figure 8B] FIG. 8B is a diagram for explaining the traveling position correction. [Figure 8C] FIG. 8C is a diagram for explaining the traveling position correction. [Figure 8D] FIG. 8D is an example of a flowchart showing a process of correcting a traveling position. [Figure 9] FIG. 9 is a diagram illustrating the effect of reducing the work time. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, a working system and a method for manufacturing a product according to an embodiment of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are given the same reference numerals. In the description of this embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0017] <Working system> The working system according to the present embodiment performs a predetermined operation on a target material 1 (see FIG. 1) being transported by a traveling cart 5 (see FIG. 2). The predetermined operation includes, for example, machining such as grinding and cutting. For example, burrs, defects, defective parts of shape, and the like present on the surface of the target material 1 to be cut are removed from the processing target 2 (see FIG. 1). The predetermined operation also includes, for example, cleaning dirt on the surface of the target material 1. The predetermined operation also includes, for example, measuring the thickness of the target material 1. For example, the working system may perform one or more of the following as the predetermined operation: machining, cleaning dirt, and measuring the thickness. The working system according to the present embodiment is used in a product manufacturing line, and a product is manufactured through a predetermined operation on the target material 1. For example, if burrs, defects, defective parts of shape, and the like present on the surface of the target material 1 are removed, dirt on the surface is cleaned, and the thickness is measured and found to be within an acceptable range, the target material 1 after these operations may become a product. Here, the predetermined operation by the traveling cart 5 is performed on the manufacturing line (online) without stopping the transport of the target material 1.

[0018] FIG. 1 shows a target material 1 having a processing object 2 and a cleaning object 3. Examples of the target material 1 include H-shaped steel and thick plates transported on a production line. In this embodiment, the target material 1 is a thick plate. Burrs, defects, and shape defects that occur continuously parallel to the transport direction at the end of the target material 1 become the processing object 2. Here, the processing object 2 is not limited to burrs, defects, and shape defects that occur continuously parallel to the transport direction, but may be burrs, defects, and shape defects that occur on a cut surface (division surface) of the target material 1 perpendicular to the transport direction. In addition, dirt such as machine oil adhering to the target material 1 becomes the cleaning object 3.

[0019] FIG. 2 shows an example of a system of the present disclosure. The working system includes a traveling cart 5, a detection device 6, a handling device 7, and a control device 10. As in this embodiment, the working system may further include a handling mechanism 8 and a conveyor 9. Here, as shown in FIG. 2, a coordinate system is set in which the direction parallel to the conveying direction is y, the vertical direction of the target material 1 is z, and the width (horizontal) direction is x. x is the direction perpendicular to the conveying direction, and is also the width (horizontal) direction of the conveying line 4. This coordinate system is also commonly used in FIGS. 3A to 8C.

[0020] The traveling cart 5 is equipped with a work tool, and performs a predetermined operation on the target material 1 while traveling over the target material 1 being transported on the transport line 4. The predetermined operation is machining, cleaning, measurement, etc., as described above. In this embodiment, the traveling cart 5 is a self-propelled robot. However, the traveling cart 5 is not limited to one that travels autonomously, and may be remotely operated by a person, for example. The configuration of the traveling cart 5 will be described in detail later.

[0021] The handling device 7 performs at least one of placing (mounting) the traveling cart 5 on the target material 1 being transported and retrieving the traveling cart 5 from the target material 1 being transported. The handling device 7 may be an articulated robot as in this embodiment, but is not limited thereto. In this embodiment, the handling device 7 is a robot having multiple axes (six axes as an example), and therefore can operate flexibly. In this embodiment, a handling mechanism 8 for holding the traveling cart 5 is attached to the tip of the handling device 7. In this embodiment, the handling devices 7 are disposed at two locations, the upstream side and the downstream side of the transport line 4. The two handling devices 7 are disposed on the same side in the width direction of the transport line 4, and are disposed at an interval from each other in the transport direction. In addition, a conveyor 9 is provided between the two handling devices 7 for transferring the traveling cart 5 retrieved by the downstream handling device 7 (downstream handling device) to the upstream handling device 7 (upstream handling device). The moving direction of the conveyor 9, i.e., the moving direction of the collected traveling cart 5, is opposite to the conveying direction. Here, as another example, a configuration in which one handling device 7 places and collects the traveling cart 5 is also possible.

[0022] The detection device 6 detects the position and conveying speed of the target material 1 during conveyance. The detection device 6 may be a camera as in this embodiment, but is not limited thereto. The detection device 6 may be composed of one camera or multiple cameras. In this embodiment, the detection device 6 is installed above the conveying line 4 (z positive direction) and captures a moving image of the target material 1 being conveyed on the conveying line 4. In other words, the detection device 6 is a camera that captures a moving image of the target material 1 from above the target material 1. In this embodiment, two cameras that are the detection device 6 are installed near each of the two handling devices 7. The two cameras capture the target material 1 before the traveling cart 5 is placed by the upstream handling device 7 and the target material 1 before the traveling cart 5 is collected by the downstream handling device 7, respectively.

[0023] The control device 10 controls the operation of the detection device 6 and the handling device 7 as one of the controls in the work system. Therefore, the control device 10 can be called a robot camera control device. In this embodiment, the control device 10 controls the operation of the handling device 7 based on the position and conveying speed of the target material 1 detected by the detection device 6. The control device 10 also stores dimensional information of the target material 1 in advance, and controls the operation of the handling device 7 when the traveling cart 5 is placed and retrieved based on the dimensional information. The control device 10 may be configured with any device capable of control and calculation, and may be, for example, a computer.

[0024] <Self-propelled robot> Figures 3A to 3D show the configuration of a self-propelled robot. As described above, in this embodiment, the traveling cart 5 is a self-propelled robot. Figures 3A to 3D show a plan view, a front view, and a side view of the traveling cart 5, respectively, and are distinguishable by adding the above-mentioned coordinate system to each view.

[0025] As shown in FIG. 3A, the traveling cart 5 of this embodiment has a structure with four Mecanum wheels 12 around the robot exterior 11. The Mecanum wheels 12 can move in the x direction (forward and backward) like normal drive wheels, but can also move arbitrarily in the y direction (left and right) by driving the exterior wheels. In other words, the traveling cart 5 can move in any direction on the xy plane on the target material 1. The upper right diagram of FIG. 3A shows a plan view of the traveling cart 5 with the z positive direction of the robot exterior 11 transparent. Each of the four Mecanum wheels 12 has a structure having an encoder 13 and a servo motor 14. Each of the four Mecanum wheels 12 can be driven independently. Therefore, the traveling cart 5 can move in any direction. In addition, the number of rotations of the servo motor 14 is detected by the encoder 13, and the travel distance of the traveling cart 5 can be controlled based on the number of rotations. Therefore, the control unit 16, which obtains the detection value from the encoder 13 and controls the rotation of the servo motor 14, can accurately move the traveling cart 5 over the target material 1 according to the determined path. The control unit 16 may be a small controller or the like. Here, the traveling cart 5 also has a built-in battery for driving it, which is not shown.

[0026] The traveling cart 5 of this embodiment is also provided with sensors 15 on the four sides, front, back, left and right, for detecting the target material 1. The presence or absence of the target material 1 around the traveling cart 5 is detected by the sensors 15, and the control unit 16 controls the rotation of the servo motor 14 based on the detection result, thereby preventing the traveling cart 5 from running away from the target material 1. A method of travel control using the sensors 15 will be described later.

[0027] In addition, a handling auxiliary device 17 is attached to the upper part of the traveling carriage 5 in this embodiment. The handling auxiliary device 17 is used in combination with a handling mechanism 8 attached to the handling device 7. The handling auxiliary device 17 may have a chucking structure using air pressure as used in an ATC (automatic tool changer). Furthermore, the handling auxiliary device 17 may have a tapered structure that serves as a guide during chucking, for example, when magnetic chucking is used. In the following, the handling auxiliary device 17 will be described as having a chucking structure.

[0028] Here, the traveling cart 5 of this embodiment includes a work tool for performing a predetermined work on the target material 1, in addition to the configuration shown in FIG.

[0029] The traveling carriage 5 in FIG. 3B is equipped with a work tool for performing machining. The traveling carriage 5 in FIG. 3B is equipped with a grinder 21 and a grindstone 22 (machining device) via a grinder frame 18, an elevation mechanism 19, and a grinder fixing part 20 on the main body. The grinder 21 and the grindstone 22 are jigs for performing grinding, which is an example of machining. The traveling carriage 5 is structured so that the elevation mechanism 19 can move the grinder 21 in the vertical direction of the target material 1, i.e., in the z direction. When grinding off the processing target 2 such as burrs, the traveling carriage 5 lowers the grinder 21 so that the grindstone 22 comes into contact with the processing target 2 of the target material 1. On the other hand, when the processing target 2 is not to be ground off, the traveling carriage 5 raises the grinder 21 so that the grindstone 22 does not come into contact with the target material 1. The control unit 16 controls the on / off of the power supply for the rotation of the grinder 21 and the operation of the lifting mechanism 19 in accordance with the movement of the traveling cart 5 .

[0030] The traveling cart 5 in FIG. 3C is equipped with a work tool for performing cleaning work. The traveling cart 5 in FIG. 3C is equipped with a cleaning brush 24 (cleaning device) on the main body via a brush frame 23. No mechanism is provided for driving the cleaning brush 24. Here, if only the area where the cleaning target 3 exists is targeted for cleaning work and the cleaning brush 24 is driven only when the cleaning target 3 is detected, the work tool becomes complicated and the cost increases. For this reason, the cleaning work using the traveling cart 5 in FIG. 3C is performed so as to clean the entire surface of the target material 1 without providing a drive mechanism.

[0031] The traveling cart 5 in Fig. 3D is equipped with a work tool for performing measurement work. The traveling cart 5 in Fig. 3D is equipped with a material thickness sensor 26 (measurement device) on the main body via a sensor frame 25. As with the work tool for performing cleaning work, the measurement work using the traveling cart 5 in Fig. 3D is performed so as to measure the entire surface of the target material 1 without providing a mechanism for switching the material thickness sensor 26 on and off.

[0032] By mounting additional functions such as machining devices, cleaning devices, and measuring devices on the main body of the traveling cart 5, it is possible to perform predetermined operations on the target material 1 during transportation.

[0033] <Placement of the self-propelled robot> A method for placing (mounting) the traveling cart 5 on the target material 1 being transported will be described with reference to Figure 4. First, the handling device 7 arranged on the upstream side (upstream handling device) grips the handling auxiliary device 17 of the traveling cart 5 with the handling mechanism 8 attached to the tip, and lifts the traveling cart 5. The upstream handling device makes the lifted traveling cart 5 wait above the transport line 4.

[0034] When the target material 1 being transported by the transport line 4 approaches the placement position (mounting position) of the traveling cart 5, a moving image of the target material 1 is captured by the upstream detection device 6. The range indicated by the dashed line in FIG. 4 is the capture range. The control device 10 calculates the speed and position of the target material 1's attention point in the moving image based on the moving image. In this embodiment, one corner of the target material 1 is set as the attention point. It is assumed that the control device 10 calculates the coordinate p of the attention point in the xy plane to be (x, y) and the speed v to be (0, vy, 0). The control device 10 controls the operation of the upstream handling device so that the lifted traveling cart 5 descends at a speed v' (0, vy, vz). Here, vz is the speed in the negative z direction. The operation of the upstream handling device is controlled so that the transport speed of the target material 1 and the descending speed of the traveling cart 5 are synchronized (the same) at vy in the transport direction, i.e., the positive y direction. That is, when the traveling cart 5 is placed on the target material 1 being transported, the control device 10 synchronizes the detected transport speed of the target material 1 with the operating speed of the handling mechanism 8. When the traveling cart 5 is placed on the target material 1, that is, when the z-direction position of the handling mechanism 8 reaches height z0, which is the sum of the thickness dimension of the workpiece 1 and the height dimension of the traveling cart 5, the traveling cart 5 is separated from the handling mechanism 8. The control device 10 then moves the handling mechanism 8 upward (in the z positive direction) to complete the placement of the traveling cart 5 on the target material 1.

[0035] <Recovery of self-propelled robot> A method for recovering the traveling cart 5 from the target material 1 being transported will be described with reference to Fig. 5. First, the handling device 7 arranged on the downstream side (downstream handling device) makes the handling mechanism 8 wait above the target material 1.

[0036] When the target material 1 on which the traveling cart 5 is placed approaches the recovery position, a video of the target material 1 is captured by the downstream detection device 6. The range indicated by the dashed line in FIG. 5 is the capture range. The control device 10 calculates the speed and position of the target material 1 in the video based on the video. In this embodiment, the center of the handling auxiliary device 17 of the traveling cart 5 is the target point. It is assumed that the control device 10 calculates the coordinate p of the target point in the xy plane to be (x, y) and the speed v to be (0, vy, 0). The control device 10 controls the operation of the downstream handling device so that the handling mechanism 8 descends at a speed v' (0, vy, vz). Here, vz is the speed in the negative z direction. The operation of the downstream handling device is controlled so that the transport speed of the target material 1 and the speed at which the handling mechanism 8 descends are synchronized (the same) at vy in the transport direction, i.e., the positive y direction. That is, when the traveling cart 5 is retrieved from the target material 1 being transported, the control device 10 synchronizes the detected transport speed of the target material 1 with the operating speed of the handling mechanism 8. The traveling cart 5 is connected to the handling mechanism 8 at the timing when the handling mechanism 8 comes into contact with the handling auxiliary device 17, i.e., at the timing when the lower end of the handling mechanism 8 reaches the height z0 described above. The control device 10 then moves the handling mechanism 8 upward (in the z positive direction) to complete the retrieval of the traveling cart 5 from the target material 1.

[0037] The collected traveling cart 5 is placed on the conveyor 9 in Fig. 2 by the downstream handling device and transported to the placement position. The traveling cart 5 transported to the placement position is placed again on the target material 1 by the upstream handling device. By repeating this cycle, predetermined operations such as machining, cleaning, and measurement are performed on the target material 1 being transported on the production line (online).

[0038] <How to drive> The traveling cart 5 placed on the target material 1 moves on the target material 1 while being transported. As described above, predetermined work such as machining, cleaning, measurement, etc. is performed by the work tools equipped on the traveling cart 5. The traveling cart 5 completes the predetermined work before the target material 1 arrives at the collection position.

[0039] 6A and 6B, an example of a travel route of the traveling carriage 5 will be described. Here, the travel route is a trajectory along which the center of the main body of the traveling carriage 5 moves.

[0040] FIG. 6A shows a travel route that travels only on the end of the target material 1. In FIG. 6A, the traveling cart 5 placed on the lower left of the target material 1 moves from the lower left to the upper left, upper right, and lower right of the target material 1 in this order, and is collected at the lower right position of the target material 1. The width Lx and length Ly of the target material 1, and parameters x1 to x4 and y1 to y4 for position setting are given in advance to the control unit 16 of the traveling cart 5. The parameters x1 to x4 and y1 to y4 correspond to the length from the center to the end of the body of the traveling cart 5. The control unit 16 sets a travel path 27 based on the above information on the target material 1 and the parameters, and moves the traveling cart 5 along the travel path 27 by controlling the rotation of the servo motor 14 based on the detection value of the encoder 13, for example.

[0041] Fig. 6B shows a travel route that travels over the entire surface of the target material 1. In Fig. 6B, the traveling cart 5 placed on the lower left of the target material 1 moves back and forth in the x direction from the lower left to the lower right of the target material 1, moving right in the y direction by an inter-path movement amount Δy at a time. The control unit 16 sets a movement path 27 based on the information of the target material 1 described above (width Lx and length Ly) and parameters x1 to x4, y1 to y4, and Δy. Then, the control unit 16 controls the rotation of the servo motor 14 based on the detection value of the encoder 13, for example, to move the traveling cart 5 along the movement path 27.

[0042] <Working Method> 7A to 7L are diagrams for explaining the travel route of the traveling carriage 5 that grinds the workpiece 2. In this example, the traveling carriage 5 moves in the order of FIG. 7A to FIG. 7L. In this example, the workpiece 2 is present at the edge of the target material 1. In this example, the parameter x1 is 1 / 2 the length in the x direction of the main body of the traveling carriage 5. In addition, the parameter x2 is the sum of x1 and the length in the x direction of the work tool for grinding. The parameter y1 is 1 / 2 the length in the y direction of the traveling carriage 5 including the work tool for grinding. In addition, the parameter y0 is the length in the y direction that is set as a margin during operation.

[0043] FIG. 7A shows a grinding movement path 28 in which the traveling carriage 5, which is located at the lower left loading position of the target material 1, moves along the edge of the target material 1 in the negative x direction only to the upper left (Lx-x1-x2) while grinding.

[0044] FIG. 7B shows a non-grinding movement path 29 in which the traveling carriage 5 moves in the x positive direction (x2-x1) and in the y positive direction (y0) without grinding.

[0045] 7C shows the traveling carriage 5 turning over on the spot by rotating 180° around the central axis of the body of the traveling carriage 5. The traveling carriage 5 is provided with the Mecanum wheels 12, so that it can turn on the spot.

[0046] FIG. 7D shows a non-grinding movement path in which the traveling carriage 5 moves in the negative y direction (y0) without grinding.

[0047] FIG. 7E shows a grinding movement path in which the traveling carriage 5 moves only (x1+x2) in the x positive direction while grinding.

[0048] 7F shows a non-grinding movement path in which the traveling carriage 5 moves in the negative x direction by (x1+x2) and in the positive y direction by (Ly-2y1) without grinding. Here, "2y1" means "2×y1".

[0049] FIG. 7G shows a grinding movement path along which the traveling carriage 5 moves along the edge of the target material 1 in the positive x direction only (Lx-x1-x2) while grinding.

[0050] FIG. 7H shows a non-grinding movement path in which the traveling carriage 5 moves only in the negative x direction (x2-x1) and in the negative y direction (y0).

[0051] FIG. 7I shows the traveling cart 5 rotating 180° around the central axis of the main body of the traveling cart 5 and thereby turning over on the spot.

[0052] FIG. 7J shows a non-grinding movement path in which the traveling carriage 5 moves in the positive y direction (y0) without grinding.

[0053] FIG. 7K shows a grinding movement path in which the traveling carriage 5 moves only in the negative x direction (x1+x2) while grinding.

[0054] FIG. 7L shows a non-grinding movement path in which the traveling carriage 5 moves in the x positive direction by (x1+x2) without grinding.

[0055] By moving along these non-grinding movement paths and grinding movement paths, the traveling cart 5 moves from the placement position of the target material 1 to the collection position while grinding the workpiece 2. Here, if a machining device is provided on the main body of the traveling cart 5, it is necessary to set a movement path that includes operations such as reversing. Similarly, if a cleaning device or a measuring device is provided on the main body of the traveling cart 5, it is necessary to set a movement path that includes operations such as reversing.

[0056] <Travel position correction> In this embodiment, the traveling cart 5 is equipped with a traveling position correction mechanism that detects the position of an edge 31 (see FIG. 8A) of the target material 1 when traveling over the target material 1 being transported, and corrects the traveling position of the traveling cart 5 based on the position of the edge 31. FIGS. 8A to 8C are diagrams for explaining the traveling position correction. The traveling position correction mechanism includes sensors 15 for detecting the target material 1, which are provided on the four sides of the traveling cart 5, namely the front, rear, left and right. The examples of FIGS. 8A to 8C explain the position correction in the y-axis direction by the sensor 15 when the yz plane is viewed as a cross section. That is, the position correction executed when the traveling cart 5 moves in the x-axis direction along the edge 31 of the target material 1 is explained.

[0057] 8A shows an example of edge measurement of a target material 1 by a sensor 15. The sensor 15 is, for example, a two-dimensional laser range finder, and has a function of grasping the shape of an object in two dimensions. The sensor 15 is capable of accurately measuring the position of an edge 31 that exists within a measurement range 30 of the sensor 15. Taking the center of the measurement range 30 as the origin, the distance to the edge 31 of the target material 1 in the y direction is defined as ye, and the range from the center of the measurement range 30 within which the presence of the edge 31 is not a problem is defined as an edge presence tolerance range ya. In the following, the positive side of the y axis is referred to as the + side, and the negative side of the y axis is referred to as the - side.

[0058] 8B shows an example in which the position of edge 31 deviates to the + side. The distance to the edge position, ye, deviates to the + side beyond the edge existence tolerance ya.

[0059] 8C shows an example in which the position of edge 31 deviates to the negative side. The distance to the edge position, ye, deviates to the negative side beyond the edge existence tolerance range ya.

[0060] FIG. 8D is an example of a flowchart showing the process of traveling position correction. When the control unit 16 determines that the position of the edge 31 deviates to the + side (ye>ya to the + side) based on the edge measurement result of the sensor 15 (Yes in step S1), it moves the traveling carriage 5 to the - side by the deviation (ye-ya) (step S2). After the process of step S2, the control unit 16 returns to the process of step S1. When the control unit 16 determines that the position of the edge 31 does not deviate to the + side (No in step S1), it proceeds to the process of step S3. When the control unit 16 determines that the position of the edge 31 deviates to the - side (ye>ya to the - side) based on the edge measurement result of the sensor 15 (Yes in step S3), it moves the traveling carriage 5 to the + side by the deviation (ye-ya) (step S4). After the process of step S4, the control unit 16 returns to the process of step S1. When the control unit 16 determines that the position of the edge 31 is not off the negative side (No in step S3), the control unit 16 proceeds to the process of step S5. When the traveling of the traveling carriage 5 has ended (Yes in step S5), the control unit 16 ends the series of processes. When the traveling of the traveling carriage 5 has not ended (No in step S5), the control unit 16 returns to the process of step S1 again.

[0061] In the work system according to this embodiment, the control unit 16 obtains detection values ​​from the encoder 13 and controls the rotation of the servo motor 14. Therefore, it is unlikely that the position of the edge 31 will deviate from the edge presence tolerance range ya. However, in actual operations, the traveling carriage 5 may deviate from the set path due to, for example, slippage of the Mecanum wheel 12, variations in the plate shape of the target material 1, vibrations during transportation, etc. The traveling position correction mechanism allows the traveling carriage 5 to proceed more stably along the set path.

[0062] <Product manufacturing method> The manufacturing method for manufacturing a product by performing a predetermined operation on the target material 1 includes a detection step, a placement step, an operation step, and a recovery step.

[0063] In the detection process, the detection device 6 detects the position and transport speed of the target material 1 being transported. In the placement process, the operation of the handling device 7 is controlled based on the detected position and transport speed of the target material 1, and the handling device 7 places the traveling cart 5 on the target material 1 being transported. In the work process, the placed traveling cart 5 is made to travel over the target material 1, and a predetermined operation is performed on the target material 1 being transported by a work tool provided on the traveling cart 5. In the recovery process, the traveling cart 5 is recovered from the target material 1 being transported.

[0064] Through the above process, a predetermined operation is performed on the target material 1 to manufacture a product. Here, the traveling cart 5 has a size of 500 mm x 500 mm, for example. Here, the target material 1 to be made into a steel product generally has a size larger than 500 mm even on the short side. Therefore, the above-mentioned operation system and method can be applied to steel products of various sizes, and since the traveling cart 5 is used, there is no need to enlarge the equipment of the production line. In this way, the operation system can use the traveling cart 5 to perform a predetermined operation on the target material 1 while it is being transported, without enlarging the equipment.

[0065] <Effects of automation> FIG. 9 is a diagram illustrating the effect of reducing work time. "Conventional" indicates the work time required for deburring work on rolled products that has been performed offline by workers. "Present embodiment" indicates the work time required when the above-described work system and method are applied to automate the deburring work. The work time in this embodiment is shown as a relative time with the conventional time set at 100. As shown in FIG. 9, the automation enabled a reduction in work man-hours by approximately 82%.

[0066] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications or corrections based on the present disclosure. Therefore, it should be noted that these modifications or corrections are included in the scope of the present disclosure. For example, the functions included in each component or each step (process) can be rearranged so as not to be logically inconsistent, and multiple components or steps can be combined into one or divided. The embodiments of the present disclosure can also be realized as a program executed by a processor included in the device or a storage medium on which a program is recorded. It should be understood that these are also included in the scope of the present disclosure. [Explanation of symbols]

[0067] 1. Target material 2. Processing target 3. Cleaning target 4. Conveyor Line 5 Travelling cart 6. Detection device 7 Handling Equipment 8 Handling Mechanism 9 Conveyor 10 Control device 11 Robot Exterior 12 Mecanum Wheel 13 Encoder 14 Servo motor 15 Sensors 16 Control section 17 Handling aids 18 Grinder Frame 19 Lifting mechanism 20 Grinder fixing part 21 Grinder 22 Grindstone 23 Brush Frame 24 Cleaning Brush 25 Sensor Frame 26 Material thickness sensor 27 Travel Route 28 Grinding path 29 Non-grinding movement path 30 Measurement range 31 Edge

Claims

1. a traveling cart that is equipped with a work tool and that performs a predetermined operation on the target material while traveling on the target material being transported; A detection device for detecting a position and a conveying speed of the object being conveyed; a handling device that performs at least one of placing the traveling cart on the target material during transportation and recovering the traveling cart from the target material during transportation; A control device that controls the operation of the handling device based on the detected position and conveying speed of the target material.

2. The work system described in claim 1, wherein the handling devices include an upstream handling device arranged upstream in the transport direction of the target material and placing the traveling cart on the target material, and a downstream handling device arranged downstream in the transport direction of the target material and recovering the traveling cart from the target material.

3. The work system according to claim 1 or 2, wherein the detection device is a camera that captures a moving image of the target material from above the target material.

4. The work system described in claim 1 or 2, wherein the control device synchronizes the detected conveying speed of the target material with the operating speed of the handling device when at least one of placing the traveling cart on the target material being transported and recovering the traveling cart from the target material being transported is performed.

5. The work system according to claim 1 or 2, wherein the traveling cart is equipped with a traveling position correction mechanism that detects the position of an edge of the target material while traveling over the target material being transported and corrects the traveling position of the traveling cart based on the position of the edge.

6. a detection step of detecting a position and a conveying speed of the object being conveyed; a placing step of controlling an operation of a handling device based on the detected position and conveying speed of the target material, and placing a traveling cart on the target material being conveyed by the handling device; a work process in which the traveling cart is caused to travel over the target material and a predetermined work is performed on the target material being transported by a work tool provided on the traveling cart; A recovery process of recovering the traveling cart from the target material being transported.

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