TRANSPORTATION APPARATUS, ROBOT SYSTEM, AND CONTROL METHOD

Abstract

To provide a device and system that are effective in improving the efficiency of robotic work. [Solution] The intra-cell conveying device 200 comprises a swivel unit 220 that can rotate around the central axis 204 of an orbital path 203 that passes through a transfer area 24 for the work W and a working area 23 for the work W by a work robot 300, a plurality of work holding units 230 provided on the swivel unit 220 so that when one is located in the transfer area 24, the others are located in the working area 23, a revolution drive unit 240 that rotates the swivel unit 220 around the central axis 204 of the orbital path 203, and a tilt drive unit 250 that tilts each of the plurality of work holding units 230 relative to the central axis 204 of the orbital path 203.

Description

Technical Field

[0001] The present disclosure relates to a conveying device, a robot system, a production system, and a control method.

Background Art

[0002] In Patent Document 1, there is disclosed a conveying device including a base provided on a ground surface, a turning arm provided rotatably on the base and passing through a loading / unloading position and a working position provided in advance on a circular orbit, the turning arm having turntables attached to both ends thereof, and a turning mechanism for turning the turning arm so that the turntables revolve around the base.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present disclosure provides a device and a system effective for improving the working efficiency by a robot.

Means for Solving the Problems

[0005] A conveying device according to one aspect of the present disclosure includes a turning part that can turn around a central axis of a revolution orbit passing through a delivery area of a workpiece and a working area of the workpiece by a robot, a plurality of workpiece holding parts provided on the turning part such that when any one of them is located in the delivery area, the other one is located in the working area, a revolution driving part that turns the turning part around the central axis of the revolution orbit, and a tilting driving part that tilts each of the plurality of workpiece holding parts with respect to the central axis of the revolution orbit.

[0006] A robot system relating to another aspect of this disclosure includes the above-mentioned transport device, a robot, a robot control unit that causes the robot to perform a preset operation on a workpiece held by a workpiece holding unit located in the work area, and a workpiece posture adjustment unit that changes the posture of the workpiece by tilting the workpiece holding unit by a tilting drive unit during the period in which the robot performs an operation on the workpiece held by the workpiece holding unit.

[0007] A production system relating to yet another aspect of this disclosure is a production system comprising the robot system described above and a handling robot that transports workpieces and transfers workpieces between a workpiece holding unit and a workpiece holding unit in a transfer area, wherein the handling robot has a transfer holding unit for transferring workpieces between it and the workpiece holding unit and a multi-jointed handling arm for moving the transfer holding unit, and the base of the handling arm is installed above the transport device.

[0008] A control method relating to yet another aspect of the present disclosure is a transport device comprising a swivel unit that can rotate about the central axis of an orbital trajectory passing through a work transfer area and a work area on a workpiece by a robot, and a plurality of workpiece holding units provided on the swivel unit such that when one is located in the transfer area, the other is located in the work area, wherein the control method includes: rotating the swivel unit with an orbital drive unit to move the workpiece holding units between the transfer area and the work area; causing the robot to perform a preset operation on a workpiece held by a workpiece holding unit located in the work area; and tilting the workpiece holding unit with respect to the central axis of the orbital trajectory with respect to the workpiece holding unit during the period in which the robot performs the operation on the workpiece held by the workpiece holding unit. [Effects of the Invention]

[0009] According to this disclosure, it is possible to provide devices and systems that are effective in improving the work efficiency of robots. [Brief explanation of the drawing]

[0010] [Figure 1] This is a plan view showing the schematic configuration of the production system. [Figure 2] Figure 1 is a side view of the production system. [Figure 3] This block diagram illustrates a circuit configuration that is functionally equivalent to a work controller. [Figure 4] This is a schematic diagram illustrating the change in posture before inversion. [Figure 5] This is a schematic diagram illustrating the change in attitude during inversion. [Figure 6] This is a schematic diagram illustrating the changes in posture during the painting period. [Figure 7] This block diagram illustrates the hardware configuration of the work controller, handling controller, and sequence controller. [Figure 8] This flowchart illustrates the procedure for transporting workpieces using an in-cell transport device. [Figure 9] This flowchart illustrates the procedure for transporting workpieces using an in-cell transport device. [Figure 10] This flowchart illustrates the procedure for transporting workpieces using an in-cell transport device. [Figure 11] This flowchart illustrates the procedure for changing attitude during inversion. [Figure 12] This is a flowchart illustrating the procedures for loading and unloading workpieces. [Figure 13] This flowchart illustrates the procedure for changing the orientation of a vehicle during the painting period. [Figure 14] This flowchart illustrates the process of painting a workpiece using a robot. [Modes for carrying out the invention]

[0011] The embodiments will be described in detail below with reference to the drawings. In the description, the same elements or elements having the same function will be denoted by the same reference numeral, and redundant descriptions will be omitted.

[0012] [Production System] The production system 1 shown in FIGS. 1 and 2 is a system that performs predetermined operations on workpieces in a product production line. These are merely examples, and there are no particular restrictions on the products, workpieces, and operations. However, in the following, a system that performs painting operations on automobile body parts in an automobile production line will be specifically exemplified.

[0013] As shown in FIGS. 1 and 2, the production system 1 includes a conveyor 4, a plurality of work cells 2, a plurality of work robot systems 5 (robot systems), at least one handling robot system 6, and a sequence controller 100.

[0014] The conveyor 4 conveys the workpiece W along a predetermined conveying direction 43. For example, the conveyor 4 has a support portion 41 that supports the workpiece W and a conveying drive portion 42 that moves the support portion 41 along the conveying direction 43. Specific examples of the conveying drive portion 42 include, for example, an electric drive portion that uses an electric motor as a power source to move the support portion 41.

[0015] The plurality of work cells 2 are arranged side by side along the conveying direction 43 on the side of the conveyor 4. The work cells 2 are partitioned from each other by partition walls 3. The work cells 2 are open toward the conveyor 4. An adsorption wall 21 for adsorbing paint for painting is provided at the back (the back as seen from the conveyor 4) of the work cell 2. The work cell 2 may be configured to form a water curtain on the inner surface of the adsorption wall 21.

[0016] The work cell 2 has a work area 23 and a delivery area 24. The work area 23 is an area where the workpiece W to be worked is placed when performing the painting operation, and the delivery area 24 is an area for delivering the workpiece W to be worked. For example, the work area 23 is located closer to the adsorption wall 21 within the work cell 2, and the delivery area 24 is located closer to the conveyor 4 within the work cell 2.

[0017] Multiple work robot systems 5 are provided in each of the multiple work cells 2 and perform painting work on the workpiece W. Each work robot system 5 includes an in-cell transport device 200 (transport device), a work robot 300 (robot), and a work controller 400. The in-cell transport device 200 transports the workpiece W along a circular orbital trajectory 203 that passes through the work area 23 and the transfer area 24. The central axis 204 of the orbital trajectory 203 may be vertical or inclined with respect to the vertical direction.

[0018] The cell transport device 200 includes a base 210, a swivel section 220, a plurality of workpiece holding sections 230, a revolution drive section 240, a tilt drive section 250, and a rotation drive section 260. The base 210 is fixed to the central axis 204 and has a fixed shaft 211 that protrudes upward (for example, vertically upward). The swivel section 220 is provided to be able to rotate around the central axis 204 of the revolution orbit 203.

[0019] Each of the multiple workpiece holding units 230 holds a workpiece W. The multiple workpiece holding units 230 are provided on the swivel unit 220 such that when one is located in the transfer area 24, another is located in the work area 23.

[0020] For example, the work area 23 and the transfer area 24 are located opposite each other around the central axis 204 of the orbital trajectory 203. Accordingly, the in-cell transport device 200 has two workpiece holding units 230, and when one workpiece holding unit 230 is located in the transfer area 24, the other workpiece holding unit 230 is located in the work area 23.

[0021] The swivel unit 220 has a main body 221 and two swivel arms 222. The main body 221 is mounted on the outer circumference of the fixed shaft 211 so that it can swivel around the central axis 204. The two swivel arms 222 protrude from the outer circumference of the main body 221 in opposite directions, and two workpiece holding units 230 are provided at the ends of the two swivel arms 222, respectively. The workpiece holding units 230 protrude upward from the ends of the swivel arms 222. The workpiece holding units 230 support the workpiece W from below and hold the workpiece W by vacuum suction or gripping with a mechanical hand.

[0022] The number of workpiece holding units 230 is not necessarily limited to two. The cell transport device 200 may have three or more workpiece holding units 230, as long as the condition is met that when one workpiece holding unit 230 is located in the transfer area 24, another workpiece holding unit 230 is located in the work area 23.

[0023] The orbital drive unit 240 rotates the slewing unit 220 around the central axis 204 of the orbital trajectory 203. For example, the orbital drive unit 240 has an electric motor 241 and a transmission unit 242 that transmits the power of the motor 241 to the main body 221.

[0024] The tilting drive unit 250 tilts each of the multiple workpiece holding units 230 with respect to the central axis 204 of the orbital trajectory 203. Here, tilting the workpiece holding unit 230 with respect to the central axis 204 means changing the angle between a predetermined axis fixed to the workpiece holding unit 230 and the central axis 204. As an example, the tilting drive unit 250 changes the angle between the central axis 231 of the workpiece holding unit 230 (the central axis along the direction of projection of the workpiece holding unit 230 from the swivel arm 222) and the central axis 204.

[0025] For example, the tilting drive unit 250 tilts each of the multiple workpiece holding units 230 around a tilting axis 253 perpendicular to the central axis 204. Here, perpendicular includes cases where there is a torsional relationship, such as in an overpass. As an example, the tilting drive unit 250 tilts the workpiece holding unit 230 around a tilting axis 253 that is perpendicular to a vertical virtual plane containing the central axis 204 and the central axis 231 of the workpiece holding unit 230 and passes through the base of the workpiece holding unit 230 (the connection point with the swivel arm 222). In other words, the tilting drive unit 250 tilts the workpiece holding unit 230 around a tilting axis 253 that is perpendicular to the central axis 204 and the central axis 223 of the swivel arm 222 and passes through the connection point with the base of the workpiece holding unit 230 (the connection point with the swivel arm 222). The tilting drive unit 250 may be configured to tilt the workpiece holding unit 230 around a tilting axis 253 that is perpendicular to the central axis 204 and along the central axis 223 of the swivel arm 222.

[0026] The tilting drive unit 250 may be configured to tilt each of the multiple workpiece holding units 230 individually. For example, the tilting drive unit 250 may have an electric motor 251 and a transmission unit 252 for transmitting power from the motor 251 to the workpiece holding unit 230, for each workpiece holding unit 230. The motor 251 may be built into the main body 221, and the transmission unit 252 may be built into the swivel arm 222. The transmission unit 252 can be constructed by appropriately combining transmission elements such as bevel gears, transmission shafts, and timing belts.

[0027] The rotation drive unit 260 rotates each of the multiple workpiece holding units 230 around a rotation axis 263 perpendicular to the tilt axis 253. Here, rotation of an object means rotation around an axis that passes through the object and is fixed to the object. Therefore, the rotation axis 263 tilts together with the workpiece holding units 230 in response to the tilting of the workpiece holding units 230 by the tilt drive unit 250. As an example, the rotation drive unit 260 rotates the workpiece holding units 230 around their central axis 231.

[0028] The rotation drive unit 260 may be configured to rotate each of the multiple workpiece holding units 230 individually. For example, the rotation drive unit 260 may have an electric motor 261 and a transmission unit 262 for transmitting power from the motor 261 to the workpiece holding unit 230, for each workpiece holding unit 230. The motor 261 may be built into the main body 221, and the transmission unit 262 may be built into the slewing arm 222. The transmission unit 262 can be constructed by appropriately combining transmission elements such as bevel gears, transmission shafts, and timing belts.

[0029] The workpiece holding section 230 may hold the workpiece W via a support jig 270. For example, the support jig 270 has a base 272 held by the workpiece holding section 230, a support column 271 protruding upward from the base 272, and a workpiece holding section 273 that holds the workpiece W at the end of the support column 271.

[0030] The transfer of workpieces W between the conveyor 4 and the work cell 2 is performed with the support jig 270 still attached. The base 272 of the support jig 270 is held so that the support column 271 protrudes upward on the conveyor 4. This keeps the workpieces W suspended both on the conveyor 4 and within the work cell 2.

[0031] The work robot 300 performs a pre-set operation (for example, painting) on ​​the workpiece W held by the workpiece holding unit 230 located in the work area 23. For example, the work robot 300 has a painting tool 310 that dispenses paint and a multi-joint work arm 320 that changes the position and orientation of the painting tool 310.

[0032] The painting tool 310 is configured to dispense paint in an atomized form. The painting tool 310 may be configured to dispense multiple types of paint individually. For example, the painting tool 310 has multiple (e.g., three) dispensing nozzles 311, 312, 313, each dispensing multiple types (e.g., three types) of paint. As an example, the dispensing nozzles 311, 312, and 313 are each connected to a supply source (not shown) for the three types of paint. For example, dispensing nozzle 311 dispenses paint for the primer coat. Dispensing nozzle 312 dispenses paint for the main coat. Dispensing nozzle 313 dispenses paint for the clear coat.

[0033] The working arm 320 is a serial link type vertical articulated robot and has a base 321, an end 322, and an articulated arm 330. The base 321 is fixed to the end of the fixed axis 211 above the swivel section 220 described above. The end 322 holds the painting tool 310. The articulated arm 330 connects the base 321 and the end 322.

[0034] The articulated arm 330 has multiple joints arranged sequentially from the base 321 to the tip 322, and the position and orientation of the tip 322 relative to the base 321 are changed by changing the angles of these multiple joints. For example, the articulated arm 330 has a swivel section 331, a lower arm 332, an upper arm 333, a wrist section 334, and motors 361, 362, 363, 364, 365, and 366.

[0035] The swivel section 331 is provided on the upper part of the base 321 so that it can rotate around the vertical axis 341. In other words, the articulated arm 330 has a joint 351 that allows the swivel section 331 to rotate around the axis 341.

[0036] The lower arm 332 is connected to the pivot section 331 so as to be able to swing about an axis 342 perpendicular to the axis 341. In other words, the articulated arm 330 has a joint 352 that allows the lower arm 332 to swing about the axis 342. Note that "perpendicular" here also includes cases where there is a twisting relationship, such as in an overpass. The same applies below.

[0037] The upper arm 333 is connected to the end of the lower arm 332 so as to be able to swing about an axis 343 perpendicular to the axis 341. In other words, the articulated arm 330 has a joint 353 that allows the upper arm 333 to swing about the axis 343. The axis 343 may be parallel to the axis 342.

[0038] The tip of the upper arm 333 is rotatable around an axis 344 that runs along the center of the upper arm 333. In other words, the articulated arm 330 has a joint 354 that allows the tip of the upper arm 333 to rotate around the axis 344.

[0039] The wrist portion 334 is connected to the tip of the upper arm 333 so as to be able to swing around an axis 345 perpendicular to the axis 344. In other words, the articulated arm 330 has a joint 355 that allows the wrist portion 334 to swing around the axis 345.

[0040] The tip portion 322 is connected to the end of the wrist portion 334 so as to be able to rotate around an axis 346 that runs along the center of the wrist portion 334. In other words, the articulated arm 330 has a joint 356 that allows the tip portion 322 to rotate around the axis 346.

[0041] Motors 361, 362, 363, 364, 365, and 366 each drive multiple movable parts of the articulated arm 330 in accordance with the power supply. For example, motor 361 rotates the pivot section 331 around axis 341, motor 362 swings the lower arm 332 around axis 342, motor 363 swings the upper arm 333 around axis 343, motor 364 rotates the tip of the upper arm 333 around axis 344, motor 365 swings the wrist section 334 around axis 345, and motor 366 rotates the tip section 322 around axis 346. In other words, motors 361, 362, 363, 364, 365, and 366 each drive joints 351, 352, 353, 354, 355, and 356, respectively.

[0042] It should be noted that the configuration of the work arm 320 described above is merely an example. The work arm 320 can be configured in any way as long as the position and orientation of the painting tool 310 can be changed within the desired range. For example, the work arm 320 may be a 7-axis vertical articulated robot, which is a 6-axis vertical articulated robot with redundant axes added to the 6-axis vertical articulated robot described above. Furthermore, the work arm 320 may be a so-called SCARA type robot or a parallel link type robot.

[0043] The work controller 400 is configured to perform the following actions: rotate the swivel unit 220 by the orbital drive unit 240 to move the workpiece holding unit 230 between the transfer area 24 and the work area 23; cause the work robot 300 to perform a preset operation on the workpiece W held by the workpiece holding unit 230 located in the work area 23; and tilt the workpiece holding unit 230 with respect to the central axis 204 of the orbital trajectory 203 by the tilting drive unit 250 during the period in which the work robot 300 is performing the operation on the workpiece W held by the workpiece holding unit 230.

[0044] The work controller 400 may be further configured to tilt at least one (e.g., all) of the workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 by tilting by the tilting drive unit 250 for at least a portion of the period during which the orbital drive unit 240 rotates the slewing unit 220.

[0045] Figure 3 is a block diagram illustrating a circuit configuration functionally equivalent to that of the work controller. As shown in Figure 3, the work controller 400 has, as functional components (hereinafter referred to as "functional blocks"), an orbital control unit 411, a rotational attitude adjustment unit 412, a robot control unit 414, and a workpiece attitude adjustment unit 413.

[0046] The orbital control unit 411 rotates the swivel unit 220 using the orbital drive unit 240 to move the workpiece holding unit 230 between the transfer area 24 and the work area 23. If the work area 23 and the transfer area 24 are located opposite each other around the central axis 204 of the orbital trajectory 203, and the cell transport device 200 has two workpiece holding units 230, the orbital control unit 411 rotates the swivel unit 220 by 180° using the orbital drive unit 240 to swap the workpiece holding units 230 between the transfer area 24 and the work area 23.

[0047] The rotational attitude adjustment unit 412 tilts all workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 by tilting caused by the orbital drive unit 240 for at least a portion of the period during which the rotational drive unit 240 rotates the rotational unit 220.

[0048] Here, tilting the workpiece holder 230 toward the central axis 204 means tilting the workpiece holder 230 so that it approaches the central axis 204 as it moves away from the pivot arm 222. In other words, tilting the workpiece holder 230 toward the central axis 204 means directing the protrusion direction of the workpiece holder 230 from the pivot arm 222 toward the central axis 204 rather than in a direction parallel to the central axis 204 (see Figure 4).

[0049] The rotational attitude adjustment unit 412 may, for at least a portion of the period during which the orbital drive unit 240 rotates the rotational unit 220, change the attitude of the workpiece W to avoid obstacles by rotating the workpiece holding unit 230 by the rotational drive unit 260. For example, in Figure 5(a), if the rotational unit 220 rotates clockwise, the edge Wa of the workpiece W will collide with the obstacle OB. In this case, the rotational attitude adjustment unit 412 may rotate the workpiece holding unit 230 by the rotational drive unit 260 so that the edge Wa is brought closer to the central axis 204. As a result, the collision between the edge Wa and the obstacle OB is avoided, as shown in Figure 5(b).

[0050] In Figure 5(b), if the swivel unit 220 rotates further clockwise, the edge Wb of the workpiece W will collide with the obstacle OB. In this case, the swivel attitude adjustment unit 412 may rotate the workpiece holding unit 230 using the rotation drive unit 260 so that the edge Wb is brought closer to the central axis 204. This avoids the collision between the edge Wb and the obstacle OB, as shown in Figure 5(c).

[0051] The robot control unit 414 causes the work robot 300 to perform a pre-set operation on the workpiece W held by the workpiece holding unit 230 located in the work area 23. For example, the robot control unit 414 moves the painting tool 310 using the work arm 320 without directing the painting tool 310 toward the base 321 of the work arm 320.

[0052] Here, directing the painting tool 310 toward the base 321 means tilting the discharge direction of the discharge nozzles 311, 312, and 313 toward the base 321 side (towards the vertical line passing through the base 321) compared to when they are directed vertically. The movement pattern of the painting tool 310 by the work arm 320 is pre-set for each of the multiple painting target areas that divide the surface of the workpiece W to be painted.

[0053] The workpiece posture adjustment unit 413 changes the posture of the workpiece W by tilting the workpiece holder 230 by the tilting drive unit 250 while the workpiece holder 230 is performing work on the workpiece W held by the workpiece holder 230. The workpiece posture adjustment unit 413 may also change the posture of the workpiece W by tilting the workpiece holder 230 by the tilting drive unit 250 and rotating the workpiece holder 230 by the rotation drive unit 260 while the work robot 300 is performing work on the workpiece W held by the workpiece holder 230. For example, the workpiece posture adjustment unit 413 makes the entire surface of the workpiece W to be painted face the painting tool 310 by tilting the workpiece holder 230 by the tilting drive unit 250 and rotating the workpiece holder 230 by the rotation drive unit 260 while the work robot 300 is moving the painting tool 310.

[0054] To position the surface to be painted facing the painting tool 310 means to position the surface to be painted facing the direction in which the paint is discharged by the painting tool 310. Here, "facing" is not limited to a direct frontal view, but also includes a state in which the surface to be painted is tilted relative to the discharge direction of the discharge nozzles 311, 312, and 313.

[0055] For example, the workpiece posture adjustment unit 413 positions the area to be painted, corresponding to the movement pattern of the painting tool 310 described above, facing the painting tool 310. For example, as shown in Figure 6(a), during the period when the work arm 320 moves the painting tool 310 in a movement pattern corresponding to the area to be painted A1 of the workpiece W, the workpiece posture adjustment unit 413 positions the area to be painted A1 facing the painting tool 310. As shown in Figure 6(b), during the period when the work arm 320 moves the painting tool 310 in a movement pattern corresponding to the area to be painted A2 of the workpiece W, the workpiece posture adjustment unit 413 positions the area to be painted A1 facing the painting tool 310. As shown in Figure 6(c), during the period when the work arm 320 moves the painting tool 310 in a movement pattern corresponding to the area to be painted A3 of the workpiece W, the workpiece posture adjustment unit 413 positions the area to be painted A3 facing the painting tool 310.

[0056] Returning to Figures 1 and 2, the handling robot system 6 performs the transport of the workpiece W from the conveyor 4 to the transfer area 24 (loading the workpiece W into the work cell 2) and the transport of the workpiece W from the transfer area 24 to the conveyor 4 (unloading the workpiece W from the work cell 2).

[0057] The handling robot system 6 includes a handling robot 500 and a handling controller 600. The handling robot 500 transports the workpiece W and transfers the workpiece W to the workpiece holding unit 230 in the transfer area 24. For example, the handling robot 500 transports the workpiece W from the conveyor 4 to the transfer area 24 and transfers the workpiece W to the workpiece holding unit 230 in the transfer area 24. The handling robot 500 also receives the workpiece W from the workpiece holding unit 230 in the transfer area 24 and transports the workpiece W from the transfer area 24 to the conveyor 4.

[0058] For example, the handling robot 500 has a transfer holding unit 510 and a handling arm 520. The transfer holding unit 510 holds the workpiece W and transfers the workpiece W to and from the workpiece holding unit 230. As an example, the transfer holding unit 510 holds the support jig 270 above the base 272. The transfer holding unit 510 holds the workpiece W by vacuum suction, gripping with a mechanical hand, or fitting of claws and grooves.

[0059] The handling arm 520 is a serial link type articulated robot that moves the transfer holding unit 510. The base of the handling arm 520 may be installed above the cell transport device 200.

[0060] The handling robot 500 may be installed so that the transfer holding unit 510 can be placed in the transfer area 24 of the multiple work robot systems 5. For example, the handling robot 500 is installed between two work cells 2 so that the transfer holding unit 510 can be placed in the transfer area 24 of the two work cells 2. For example, a support column 31 for installing the handling robot 500 is provided between the two work cells 2. For example, the support column 31 is along the edge of the partition wall 3 on the conveyor 4 side.

[0061] The handling robot 500 has a first scalar arm 530 and a second scalar arm 540. The first scalar arm 530 is a scalar-type articulated arm whose tip moves in a horizontal plane. For example, the first scalar arm 530 has a base 531, a first horizontal arm 532, a second horizontal arm 533, a first end 534, and motors 571, 572, and 573.

[0062] The base 531 protrudes from the support column 31 toward the conveyor 4, above the cell transport device 200. The height of the base 531 may be set so that it is positioned above the heads of maintenance workers. For example, the height from the floor to the bottom surface of the base 531 may be 1.8 m or more, or 2 m or more.

[0063] The first horizontal arm 532 is connected to the end of the base 531 so that it can swing about a vertical axis 551. That is, the first scalar arm 530 has a joint 561 that allows the first horizontal arm 532 to swing about the axis 551. The first horizontal arm 532 extends from the end of the base 531 in a direction perpendicular to the axis 551 (i.e., horizontally).

[0064] The second horizontal arm 533 is connected to the end of the first horizontal arm 532 so as to be able to swing about a vertical axis 552. That is, the first scalar arm 530 has a joint 562 that allows the second horizontal arm 533 to swing about the axis 552. The second horizontal arm 533 extends from the end of the first horizontal arm 532 in a direction perpendicular to the axis 552 (i.e., horizontal).

[0065] The first end 534 is connected to the end of the second horizontal arm 533 so that it can pivot around a vertical axis 553. That is, the first scalar arm 530 has a joint 563 that allows the first end 534 to pivot around the axis 553. The first end 534 protrudes downward from the end of the second horizontal arm 533.

[0066] Motors 571, 572, and 573 each drive multiple movable parts of the first scalar arm 530 in response to the power supply. For example, motor 571 swings the first horizontal arm 532 around axis 551, motor 572 swings the second horizontal arm 533 around axis 552, and motor 573 rotates the first end 534 around axis 553. In other words, motors 571, 572, and 573 each drive joints 561, 562, and 563. This changes the position and orientation of the first end 534 in the horizontal plane.

[0067] The second scalar arm 540 is connected to the tip of the first scalar arm 530 and is a scalar-type articulated arm that moves the transfer holding part 510 in a vertical plane. The second scalar arm 540 has a vertical arm 541, a second end part 542, and motors 574 and 575.

[0068] The vertical arm 541 is connected to the lower end of the first end 534 so that it can swing around a horizontal axis 554. That is, the second scalar arm 540 has a joint 564 that allows the vertical arm 541 to swing around the axis 554. The vertical arm 541 extends from the lower end of the first end 534 in a direction perpendicular to the axis 554.

[0069] The second end 542 is connected to the end of the vertical arm 541 so as to be able to pivot around an axis 555 parallel to the axis 554. That is, the second scalar arm 540 has a joint 565 that allows the second end 542 to pivot around the axis 555. The second end 542 protrudes from the end of the vertical arm 541 along the axis 555, and a transfer holding portion 510 is provided at its end.

[0070] Motors 574 and 575 drive multiple movable parts of the second scalar arm 540 respectively in response to the power supply. For example, motor 574 swings the vertical arm 541 around axis 554, and motor 575 rotates the second end 542 around axis 555. This changes the position and orientation of the transfer holding part 510 in the vertical plane.

[0071] The handling controller 600 causes the handling robot 500 to transport the workpiece W and transfer the workpiece W between the handling controller and the workpiece holding unit 230 in the transfer area 24.

[0072] For example, the handling controller 600 causes the handling robot 500 to perform the following actions: move the transfer holding unit 510 to the conveyor 4 using the handling arm 520, have the transfer holding unit 510 hold the support jig 270; move the transfer holding unit 510 holding the support jig 270 to the transfer area 24 using the handling arm 520, position the base 272 of the support jig 270 on the workpiece holding unit 230; and release the support jig 270 from the transfer holding unit 510.

[0073] Furthermore, the handling controller 600 causes the handling robot 500 to perform the following actions: move the transfer holding unit 510 to the transfer area 24 using the handling arm 520, have the support jig 270 held by the workpiece holding unit 230 held by the transfer holding unit 510, move the transfer holding unit 510 holding the support jig 270 to the conveyor 4 using the handling arm 520, and release the support jig 270 from the transfer holding unit 510.

[0074] If the handling robot 500 is installed so that the transfer holding unit 510 can be placed in the transfer areas 24 of multiple work robot systems 5, the handling controller 600 (handling control unit) may be configured to cause the handling robot 500 to transport the transfer holding unit 510 to the transfer area 24 of one of the work robot systems 5 and to transport the transfer holding unit 510 to the transfer area 24 of another work robot system 5 at different time intervals.

[0075] The sequence controller 100 outputs various operation commands to the work controller 400 and the handling controller 600 in order to coordinate the work robot system 5 and the handling robot system 6. For example, the sequence controller 100 obtains information from the handling controller 600 indicating the timing at which the handling robot 500 will place the transfer holding unit 510 in the transfer area 24, and outputs a command to the work controller 400 to place the work holding unit 230 for transferring the workpiece W in the transfer area 24 in accordance with that timing, and performs this for each of the multiple work robot systems 5.

[0076] The sequence controller 100 may obtain information from the work controller 400 indicating the timing for placing the workpiece holding unit 230 for transferring workpieces W in the transfer area 24, and output a command to the handling controller 600 to place the transfer holding unit 510 in the transfer area 24 in accordance with that timing, for each of the multiple work robot systems 5.

[0077] In any of these cases, the orbital control unit 411 of each work robot system 5 rotates the swivel unit 220 so that the workpiece holding unit 230 for transferring the workpiece W is positioned in the transfer area 24 at the same time that the handling robot 500 positions the transfer holding unit 510 in the transfer area 24.

[0078] Here, positioning the workpiece holding unit 230 in the transfer area 24 at the same time that the handling robot 500 positions the transfer holding unit 510 in the transfer area 24 means positioning the workpiece holding unit 230 in the transfer area 24 at a timing where the period during which the transfer holding unit 510 is positioned in the transfer area 24 and the period during which the workpiece holding unit 230 is positioned in the transfer area 24 overlap at least partially.

[0079] For example, if the handling robot 500 is to transport the transfer holding unit 510 to the transfer area 24 of one of the work robot systems 5 and to the transfer holding unit 510 to the transfer area 24 of another work robot system 5 at different time intervals, the orbital control units 411 of the multiple work robot systems 5 will position the workpiece holding units 230 for workpiece W transfer in the transfer area 24 at different time intervals.

[0080] Figure 7 is a block diagram illustrating the hardware configuration of the work controller, handling controller, and sequence controller. As shown in Figure 7, the work controller 400 includes a robot controller 700 that controls the work robot 300 and a multi-axis controller 800 that controls the in-cell transport device 200.

[0081] The robot controller 700 includes a circuit 710. The circuit 710 has one or more processors 711, a memory 712, a storage 713, a communication port 714, and a driver 715. The storage 713 is a storage medium such as at least one hard disk or non-volatile memory. The storage 713 stores a program that causes the robot controller 700 and the multi-axis controller 800 to execute the following: to rotate the swivel unit 220 by the orbital drive unit 240 so as to move the workpiece holding unit 230 between the transfer area 24 and the work area 23; to cause the work robot 300 to perform a preset operation on the workpiece W held by the workpiece holding unit 230 located in the work area 23; and to tilt the workpiece holding unit 230 with respect to the central axis 204 of the orbital trajectory 203 by the tilting drive unit 250 during the period in which the work robot 300 performs the operation on the workpiece W held by the workpiece holding unit 230.

[0082] Memory 712 temporarily stores the program loaded from storage 713 and the calculation results from processor 711. Processor 711 works in cooperation with memory 712 to execute the program. Communication port 714 sends and receives information to and from the multi-axis controller 800 and sequence controller 100 according to commands from processor 711. For example, communication port 714 sends operation commands to the orbital drive unit 240, tilting drive unit 250 and rotation drive unit 260 to the multi-axis controller 800. Communication port 714 also sends information indicating the operating status of the cell transport device 200 and the work robot 300 to the sequence controller 100 and receives operation commands for the cell transport device 200 and the work robot 300 from the sequence controller 100. Driver 715 drives motors 361, 362, 363, 364, 365, and 366 respectively according to commands from processor 711.

[0083] The multi-axis controller 800 includes a circuit 810. The circuit 810 has one or more processors 811, a memory 812, a storage 813, a communication port 814, and a driver 815. The storage 813 is a storage medium such as at least one hard disk or non-volatile memory. The storage 813 stores a program for operating the orbital drive unit 240, the tilting drive unit 250, and the rotation drive unit 260 in accordance with commands from the robot controller 700.

[0084] Memory 812 temporarily stores the program loaded from storage 813 and the calculation results from processor 811. Processor 811 works in cooperation with memory 812 to execute the program. Communication port 814 sends and receives information to and from robot controller 700 according to commands from processor 811. For example, communication port 814 sends information indicating the operating status of the cell transport device 200 to robot controller 700 and receives operation commands from robot controller 700 for the orbital drive unit 240, tilting drive unit 250, and rotation drive unit 260. Driver 815 drives the orbital drive unit 240, tilting drive unit 250, and rotation drive unit 260 according to commands from processor 811.

[0085] The handling controller 600 includes a circuit 610. The circuit 610 has one or more processors 611, a memory 612, a storage 613, a communication port 614, and a driver 615. The storage 613 is a storage medium such as at least one hard disk or non-volatile memory. The storage 613 stores a program that causes the handling robot 500 to transport the workpiece W and transfer the workpiece W between the workpiece holding unit 230 and the transfer area 24.

[0086] Memory 612 temporarily stores the program loaded from storage 613 and the calculation results from processor 611. Processor 611 works in cooperation with memory 612 to execute the program. Communication port 614 sends and receives information to and from sequence controller 100 according to commands from processor 611. For example, communication port 614 sends information indicating the operating status of the handling robot 500 to sequence controller 100 and receives operation commands for the handling robot 500 from sequence controller 100.

[0087] The sequence controller 100 includes a circuit 110. The circuit 110 has one or more processors 111, a memory 112, a storage 113, a communication port 114, and a driver 115. The storage 113 is a storage medium such as at least one hard disk or non-volatile memory. The storage 113 stores a program that causes the sequence controller 100 to output various operation commands to the work controller 400 and the handling controller 600 in order to coordinate the work robot system 5 and the handling robot system 6.

[0088] Memory 112 temporarily stores the program loaded from storage 113 and the calculation results from processor 111. Processor 111 works in cooperation with memory 112 to execute the program. Communication port 114 sends and receives information to and from work controller 400 and handling controller 600 according to commands from processor 111. For example, communication port 114 receives information from work controller 400 indicating the operating status of the cell transport device 200 and work robot 300, receives information from handling controller 600 indicating the operating status of the handling robot 500, sends operation commands for the cell transport device 200 and work robot 300 to work controller 400, and sends operation commands for the handling robot 500 to handling controller 600.

[0089] The hardware configuration described above is merely an example and can be modified as needed, as long as it performs the same function. The work controller 400, handling controller 600, and sequence controller 100 may be combined into a single enclosure.

[0090] [Control method] Next, as an example of a control method, the control procedure for production system 1 will be illustrated. This control procedure includes: rotating the swivel unit 220 with the orbital drive unit 240 so as to move the workpiece holding unit 230 between the transfer area 24 and the work area 23; causing the work robot 300 to perform a preset operation on the workpiece W held by the workpiece holding unit 230 located in the work area 23; and tilting the workpiece holding unit 230 with respect to the central axis 204 of the orbital trajectory 203 with respect to the workpiece holding unit 230 during the period in which the work robot 300 performs the operation on the workpiece W held by the workpiece holding unit 230.

[0091] This control procedure may further include rotating the workpiece holding unit 230 around its axis of rotation 263 during the period in which the work robot 300 performs work on the workpiece W held by the workpiece holding unit 230.

[0092] This control procedure may include causing the work robot 300 to move the painting tool 310 using the work arm 320 without directing the painting tool 310 toward the base 321 of the work arm 320, and during the period in which the work robot 300 moves the painting tool 310, the tilting of the workpiece holding part 230 by the tilting drive unit 250 and the rotation of the workpiece holding part 230 by the rotation drive unit 260 to bring the entire surface of the workpiece W to be painted into contact with the painting tool 310.

[0093] This control procedure may further include: rotating the pivoting unit 220 with the orbital drive unit 240 so as to move the workpiece holding unit 230 between the transfer area 202 and the work area 201; and tilting at least one of the workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 by tilting with the tilting drive unit 250 for at least a portion of the period during which the orbital drive unit 240 rotates the pivoting unit 220.

[0094] This control procedure may further include, for at least a portion of the period during which the orbital drive unit 240 rotates the slewing unit 220, changing the orientation of the workpiece W to avoid obstacles by rotating the workpiece holding unit 230 by the rotational drive unit 260.

[0095] The following provides more detailed control procedures, divided into the following sections: the procedure for transporting the workpiece W by the in-cell transport device 200 (hereinafter referred to as the "in-cell transport procedure"), the procedure for changing the posture of the workpiece W by the in-cell transport device 200 during the painting period (hereinafter referred to as the "posture change procedure for painting"), the procedure for painting the workpiece W by the work robot 300 (hereinafter referred to as the "painting procedure"), and the procedure for loading and unloading the workpiece W by the handling controller 600 (hereinafter referred to as the "loading and unloading procedure").

[0096] (Intra-cell transport procedure) As shown in Figure 8, the work controller 400 first executes steps S01, S02, S03, S04, and S05. In step S01, the handling robot 500 brings the workpiece W into the transfer area 24, and the orbit control unit 411 waits for the workpiece W to be placed in the workpiece holding section 230 of the transfer area 24 (for example, for the support jig 270 to be placed). For example, the orbit control unit 411 waits to receive a holding command transmitted by the sequence controller 100 in response to the completion of the placement of the workpiece W in the workpiece holding section 230.

[0097] In step S02, the orbital control unit 411 causes the workpiece W to be held in the workpiece holding unit 230 in the transfer area 24. In step S03, the slewing attitude adjustment unit 412 tilts all of the workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 by the tilting drive unit 250. In step S04, the orbital control unit 411 rotates the slewing unit 220 by 180° using the orbital drive unit 240 so as to swap the workpiece holding units 230 between the transfer area 24 and the work area 23.

[0098] In step S05, the rotational posture adjustment unit 412 uses the tilting drive unit 250 to return the posture of all workpiece holding units 230 to the posture before step S03 was executed (hereinafter referred to as the "neutral posture"). The neutral posture is, for example, the posture in which the protrusion direction of the workpiece holding unit 230 from the rotational arm 222 is vertically upward.

[0099] The work controller 400 then executes steps S06, S07, S08, S09, S10, S11, S12, and S13. In step S06, the workpiece posture adjustment unit 413 starts control to adjust the posture of the workpiece holding unit 230 located in the work area 23 for base coat application on the workpiece W held by the workpiece holding unit 230. The specific details of the control started in step S06 will be described later as the posture change procedure for painting.

[0100] In step S07, the handling robot 500 brings the workpiece W into the transfer area 24, and the orbital control unit 411 waits for the workpiece W to be placed in the workpiece holding section 230 of the transfer area 24 (for example, for the support jig 270 to be placed). For example, the orbital control unit 411 waits to receive a holding command transmitted by the sequence controller 100 in response to the completion of the placement of the workpiece W in the workpiece holding section 230.

[0101] In step S08, the orbital control unit 411 causes the workpiece W to be held in the workpiece holding unit 230 in the transfer area 24. In step S09, the orbital control unit 411 waits for the completion of the base coat application to the workpiece W in the work area 23. In step S11, the slewing attitude adjustment unit 412 tilts all the workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 using the tilting drive unit 250. In step S12, the orbital control unit 411 rotates the slewing unit 220 by 180° using the orbital drive unit 240 so as to swap the workpiece holding units 230 between the transfer area 24 and the work area 23. In step S13, the slewing attitude adjustment unit 412 returns the attitude of all the workpiece holding units 230 to the neutral attitude.

[0102] Next, the work controller 400 executes steps S14 and S15. In step S14, the workpiece posture adjustment unit 413 starts control to adjust the posture of the workpiece holding unit 230 located in the work area 23 for priming the workpiece W held by the workpiece holding unit 230. The specific details of the control started in step S14 will be described later as the posture change procedure for painting. In step S15, the revolution control unit 411 waits for the completion of priming the workpiece W in the work area 23.

[0103] As shown in Figure 9, the work controller 400 then executes steps S16, S17, S18, S19, and S21. In step S16, the swivel attitude adjustment unit 412 tilts all workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 by the tilting drive unit 250. In step S17, the orbital control unit 411 rotates the swivel unit 220 by 180° by the orbital drive unit 240 so as to swap the workpiece holding units 230 between the transfer area 24 and the work area 23. In step S18, the swivel attitude adjustment unit 412 returns the attitude of all workpiece holding units 230 to the neutral attitude.

[0104] In step S19, the workpiece posture adjustment unit 413 starts control to adjust the posture of the workpiece holding unit 230 located in the work area 23 for the main painting of the workpiece W held by the workpiece holding unit 230. The specific details of the control started in step S19 will be described later as the posture change procedure for painting. In step S21, the revolution control unit 411 waits for the completion of the main painting of the workpiece W in the work area 23.

[0105] The work controller 400 then executes steps S22, S23, S24, S25, and S26. In step S22, the slewing attitude adjustment unit 412 tilts all workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 by the tilting drive unit 250. In step S23, the orbital control unit 411 rotates the slewing unit 220 by 180° by the orbital drive unit 240 so as to swap the workpiece holding units 230 between the transfer area 24 and the work area 23. In step S24, the slewing attitude adjustment unit 412 returns the attitude of all workpiece holding units 230 to the neutral attitude.

[0106] In step S25, the workpiece posture adjustment unit 413 starts control to adjust the posture of the workpiece holding unit 230 located in the work area 23 for the main painting of the workpiece W held by the workpiece holding unit 230. The specific details of the control started in step S25 will be described later as the posture change procedure for painting. In step S26, the revolution control unit 411 waits for the completion of the main painting of the workpiece W in the work area 23.

[0107] As shown in Figure 10, the work controller 400 then executes steps S27, S28, S29, S31, and S32. In step S27, the slewing attitude adjustment unit 412 tilts all workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 by the tilting drive unit 250. In step S28, the orbital control unit 411 rotates the slewing unit 220 by 180° by the orbital drive unit 240 so as to swap the workpiece holding units 230 between the transfer area 24 and the work area 23. In step S29, the slewing attitude adjustment unit 412 returns the attitude of all workpiece holding units 230 to the neutral attitude.

[0108] In step S31, the workpiece posture adjustment unit 413 starts control to adjust the posture of the workpiece holding unit 230 located in the work area 23 for clear coating of the workpiece W held by the workpiece holding unit 230. The specific details of the control started in step S31 will be described later as the posture change procedure for coating. In step S32, the revolution control unit 411 waits for the completion of clear coating of the workpiece W in the work area 23.

[0109] The work controller 400 then executes steps S33, S34, S35, S36, and S37. In step S33, the rotational attitude adjustment unit 412 tilts all workpiece holding units 230 toward the central axis 204 of the orbital trajectory 203 using the tilting drive unit 250. In step S34, the orbital control unit 411 rotates the rotational unit 220 by 180° using the orbital drive unit 240 so as to swap the workpiece holding units 230 between the transfer area 24 and the work area 23. In step S35, the rotational attitude adjustment unit 412 returns the attitude of all workpiece holding units 230 to the neutral attitude.

[0110] In step S36, the workpiece posture adjustment unit 413 starts control to adjust the posture of the workpiece holding unit 230 located in the work area 23 for clear coating of the workpiece W held by the workpiece holding unit 230. The specific details of the control started in step S36 will be described later as the posture change procedure for coating. In step S37, the revolution control unit 411 waits for the completion of clear coating of the workpiece W in the work area 23. This completes one cycle of the in-cell transport procedure. After that, the work controller 400 returns the process to step S01 and repeats the above in-cell transport procedure.

[0111] In the second cycle and beyond, the handling robot 500, which places the workpiece W in the transfer area 24, transports the painted workpiece W from the transfer area 24 to the conveyor 4, and then transports the unpainted workpiece W from the conveyor 4 to the transfer area 24.

[0112] As described above, the rotational attitude adjustment unit 412 may change the attitude of the workpiece W to avoid obstacles by rotating the workpiece holding unit 230 by the rotational drive unit 260 for at least a portion of the period during which the orbital drive unit 240 rotates the rotational unit 220. For example, during the execution period of steps S04, S12, S17, S23, S28, and S34, the rotational attitude adjustment unit 412 changes the attitude of the workpiece W to avoid obstacles by rotating the workpiece holding unit 230 with the rotational drive unit 260.

[0113] Figure 11 is a flowchart illustrating the reversal procedure of the slewing unit 220 in steps S04, S12, S17, S23, S28, and S34. As shown in Figure 11, the work controller 400 first executes steps S41 and S42. In step S41, the orbital control unit 411 starts the slewing of the slewing unit 220 by the orbital drive unit 240. In step S42, the slewing attitude adjustment unit 412 checks whether the attitude change timing, which is set in advance for avoiding obstacles, has been reached.

[0114] In step S42, if it is determined that the preset posture change timing for avoiding obstacles has been reached, the work controller 400 executes step S43. In step S43, the rotation posture adjustment unit 412 rotates the workpiece holding unit 230 by the rotation drive unit 260 in a rotation direction and rotation angle preset for avoiding obstacles.

[0115] Next, the work controller 400 executes step S44. If, in step S42, it is determined that the preset attitude change timing for avoiding obstacles has not been reached, the work controller 400 executes step S44 without executing step S43. In step S44, the orbital control unit 411 checks whether the reversal of the slewing unit 220 has been completed.

[0116] If the work controller 400 determines in step S44 that the reversal of the swivel unit 220 is not yet complete, it returns to step S42. Thereafter, until the reversal is complete, the swivel unit 220 continues to rotate while performing rotation to avoid obstacles as needed. If the work controller determines in step S44 that the reversal of the swivel unit 220 is complete, it executes step S45. In step S45, the orbital control unit 411 stops the rotation of the swivel unit 220 by the orbital drive unit 240. This completes the reversal procedure.

[0117] (Procedure for changing posture for painting) Figure 12 is a flowchart illustrating the procedure for changing the posture for painting, which is initiated in steps S06, S14, S19, S25, S31, and S36. As shown in Figure 12, the work controller 400 first executes steps S51, S52, and S53. In step S51, the work posture adjustment unit 413 causes the tilting drive unit 250 to tilt the work holding unit 230 and the rotation drive unit 260 to rotate the work holding unit 230 in order to change the posture of the workpiece W in the work area 23 to a posture pre-set for the first area to be painted by the work robot 300. In step S52, the work posture adjustment unit 413 waits for the work robot 300 to complete painting on the current area to be painted. In step S53, the work posture adjustment unit 413 checks whether painting has been completed on the entire surface of the workpiece W.

[0118] If the work controller 400 determines in step S53 that there are still unpainted areas, it executes step S54. In step S54, the work posture adjustment unit 413 causes the work posture adjustment unit 413 to perform at least one of the tilting of the work holding unit 230 by the tilting drive unit 250 and the rotation of the work holding unit 230 by the rotation drive unit 260, so as to change the posture of the workpiece W in the work area 23 to a posture predetermined for the next area to be painted by the work robot 300. After that, the work controller 400 returns to step S51. From there, the posture change of the workpiece W according to the area to be painted is repeated until painting of the entire surface of the workpiece W is completed. If the work controller 400 determines in step S53 that painting of the entire surface of the workpiece W is completed, the posture change procedure for painting is completed.

[0119] (Painting procedure) As shown in Figure 13, the work controller 400 first executes steps S61, S62, S63, S64, S65, S66, and S67. In step S61, the robot control unit 414 loads a movement pattern for the painting tool 310 corresponding to the first painting target area of ​​the workpiece W in the work area 23. In step S62, the robot control unit 414 waits for the posture change of the workpiece W for the painting target area corresponding to the loaded movement pattern to be completed. In step S63, the robot control unit 414 moves the painting tool 310 by the work arm 320 so that the painting tool 310 is positioned at the initial position and initial posture of the movement pattern.

[0120] The work controller 400 then executes steps S64, S65, S66, and S67. In step S64, the robot control unit 414 starts dispensing paint from the painting tool 310. For example, in the case of primer coating, the robot control unit 414 starts dispensing paint from the dispensing nozzle 311; in the case of main coating, it starts dispensing paint from the dispensing nozzle 312; and in the case of clear coating, it starts dispensing paint from the dispensing nozzle 313. In step S65, the robot control unit 414 moves the painting tool 310 with the work arm 320 according to the movement pattern. This sprays paint onto the current area to be painted. In step S66, the robot control unit 414 stops dispensing paint from the painting tool 310. In step S67, the robot control unit 414 checks whether the entire surface of the workpiece W has been painted.

[0121] If the work controller 400 determines in step S67 that there are still unpainted areas, it executes step S68. In step S68, the robot control unit 414 loads the movement pattern of the painting tool 310 corresponding to the next area to be painted on the workpiece W in the work area 23. After that, the work controller 400 returns to step S61. From there, painting of each area to be painted is repeated until painting of the entire surface to be painted is completed. If the work controller 400 determines in step S67 that painting of the entire surface to be painted on the workpiece W is completed, the painting procedure is completed.

[0122] (Loading and unloading procedures) Figure 14 is a flowchart illustrating the loading and unloading procedure when the handling robot 500 places the transfer holding unit 510 in the transfer area 24 of two work cells 2. For the sake of explanation, one of the two work cells 2 will be referred to as the "first cell" and the other as the "second cell".

[0123] First, in step S71, the handling controller 600 waits for the timing to replace the workpiece W in the transfer area 24 of the first cell. For example, the handling controller 600 waits in the first cell to receive a workpiece W replacement command transmitted by the sequence controller 100 based on the timing when the above-described one-cycle in-cell transport procedure is completed. Note that the workpiece W replacement command may be transmitted prior to the completion of one-cycle in-cell transport procedure. The same applies in the following steps.

[0124] Next, in step S72, the handling controller 600 causes the handling robot 500 to remove the painted workpiece W from the transfer area 24 of the first cell. For example, the handling controller 600 causes the handling robot 500 to move the transfer holding unit 510 to the transfer area 24 of the first cell using the handling arm 520, to have the support jig 270 held by the workpiece holding unit 230 held by the transfer holding unit 510, to move the transfer holding unit 510 holding the support jig 270 to the conveyor 4 using the handling arm 520, and to release the support jig 270 from the transfer holding unit 510.

[0125] Next, in step S73, the handling controller 600 causes the handling robot 500 to transport the workpiece W before painting into the transfer area 24 of the first cell. For example, the handling controller 600 causes the handling robot 500 to move the transfer holding unit 510 to the position of the workpiece W before painting, to have the support jig 270 held by the transfer holding unit 510, to move the transfer holding unit 510 holding the support jig 270 to the transfer area 24 of the first cell using the handling arm 520, to position the base 272 of the support jig 270 on the workpiece holding unit 230, and to release the support jig 270 from the transfer holding unit 510.

[0126] Next, in step S74, the handling controller 600 waits for the rotation of the swivel unit 220 of the first cell to be completed. For example, the handling controller 600 waits to receive a workpiece replacement command transmitted by the sequence controller 100 based on the timing of the completion of the rotation of the swivel unit 220 in the first cell. Next, in step S75, the handling controller 600 has the painting workpiece W removed from the transfer area 24 of the first cell by the handling robot 500, similar to step S72. Next, in step S76, the handling controller 600 has the unpainted workpiece W brought into the transfer area 24 of the first cell by the handling robot 500, similar to step S73.

[0127] Next, in step S81, the handling controller 600 waits for the timing to replace the workpiece W in the transfer area 24 of the second cell. For example, the handling controller 600 waits in the second cell to receive a workpiece replacement command transmitted by the sequence controller 100 based on the timing when the above-described one-cycle in-cell transport procedure is completed.

[0128] Next, in step S82, the handling controller 600 causes the handling robot 500 to remove the painted workpiece W from the transfer area 24 of the second cell. For example, the handling controller 600 causes the handling robot 500 to move the transfer holding unit 510 to the transfer area 24 of the second cell using the handling arm 520, to have the support jig 270 held by the workpiece holding unit 230 held by the transfer holding unit 510, to move the transfer holding unit 510 holding the support jig 270 to the conveyor 4 using the handling arm 520, and to release the support jig 270 from the transfer holding unit 510.

[0129] Next, in step S83, the handling controller 600 causes the handling robot 500 to transport the workpiece W before painting into the transfer area 24 of the second cell. For example, the handling controller 600 causes the handling robot 500 to move the transfer holding unit 510 to the position of the workpiece W before painting, to have the support jig 270 held by the transfer holding unit 510, to move the transfer holding unit 510 holding the support jig 270 to the transfer area 24 of the second cell by the handling arm 520, to position the base 272 of the support jig 270 on the workpiece holding unit 230, and to release the support jig 270 from the transfer holding unit 510.

[0130] Next, in step S84, the handling controller 600 waits for the reversal of the slewing unit 220 of the second cell to be completed. For example, the handling controller 600 waits to receive a workpiece replacement command transmitted by the sequence controller 100 based on the timing of the completion of the reversal of the slewing unit 220 in the second cell. Next, in step S85, the handling controller 600 has the painting workpiece W removed from the handover area 24 of the first cell by the handling robot 500, similar to step S82. Next, in step S86, the handling controller 600 has the unpainted workpiece W brought into the handover area 24 of the first cell by the handling robot 500, similar to step S83. This completes one cycle of loading and unloading procedures. After that, the handling controller 600 returns to step S71 and repeats the above loading and unloading procedures.

[0131] [Effects of this embodiment] As described above, the cell transport device 200 includes a swivel unit 220 that can rotate around the central axis 204 of an orbital trajectory 203 that passes through a workpiece W transfer area 24 and a work area 23 on the workpiece W by the work robot 300, a plurality of workpiece holding units 230 provided on the swivel unit 220 such that when one is located in the transfer area 24, the other is located in the work area 23, an orbital drive unit 240 that rotates the swivel unit 220 around the central axis 204 of the orbital trajectory 203, and a tilting drive unit 250 that tilts each of the plurality of workpiece holding units 230 with respect to the central axis 204 of the orbital trajectory 203. The tilting drive unit 250 may also tilt each of the plurality of workpiece holding units 230 around a tilting axis 253 perpendicular to the central axis 204 of the orbital trajectory 203.

[0132] With this cell transfer device 200, the workpiece holding section 230 in the work area 23 can be tilted by the tilt drive section 250, allowing the posture of the workpiece W to be adjusted in accordance with the work performed by the work robot 300. For example, the part of the workpiece W that is to be worked on by the work robot 300 can be directed towards the work robot 300. Furthermore, the work of the work robot 300 in the work area 23 and the transfer of the workpiece W in the transfer area 24 can be performed in parallel, and as soon as the work of the work robot 300 is completed, the workpiece holding section 230 can be quickly moved by the rotation of the swivel section 220. As a result, both the work time and waiting time of the work robot 300 can be reduced. Therefore, it is effective in improving the work efficiency of the work robot 300.

[0133] The cell transport device 200 may further include a rotation drive unit 260 that rotates each of the multiple workpiece holding units 230 around a rotation axis 254 perpendicular to the tilt axis 253 for tilting the workpiece holding unit 230. In this case, the combination of tilting and rotation allows for more flexible adjustment of the workpiece W's orientation to match the work performed by the robotic operator 300. Therefore, this is even more effective in improving the work efficiency of the robotic operator 300.

[0134] The work robot system 5 includes a cell transport device 200, a work robot 300, a robot control unit 414 that causes the work robot 300 to perform a preset operation on a workpiece W held by a workpiece holding unit 230 located in the work area 23, and a workpiece posture adjustment unit 413 that changes the posture of the workpiece W by tilting the workpiece holding unit 230 by a tilting drive unit 250 during the period when the work robot 300 is performing an operation on the workpiece W held by the workpiece holding unit 230. With this work robot system 5, by causing the workpiece holding unit 230 to tilt during the period when the work robot 300 is performing an operation, the tilting of the workpiece holding unit 230 can be more reliably utilized to improve work efficiency.

[0135] The workpiece posture adjustment unit 413 may change the posture of the workpiece W held by the workpiece holding unit 230 by tilting the workpiece holding unit 230 by the tilting drive unit 250 and by rotating the workpiece holding unit 230 by the rotation drive unit 260 during the period when the work robot 300 is performing work on the workpiece W held by the workpiece holding unit 230. In this case, by causing the tilting and rotation of the workpiece holding unit 230 to occur during the period when the work robot 300 is performing work, the tilting and rotation of the workpiece holding unit 230 can be more reliably utilized to improve work efficiency.

[0136] The work robot 300 includes a painting tool 310 that dispenses paint and a multi-joint work arm 320 that changes the position and orientation of the painting tool 310. The robot control unit 414 moves the painting tool 310 using the work arm 320 without directing the painting tool 310 toward the base 321 of the work arm 320. The work posture adjustment unit 413 may, during the period when the work robot 300 is moving the painting tool 310, tilt the work holding unit 230 using the tilting drive unit 250 and rotate the work holding unit 230 using the rotation drive unit 260 to bring the entire surface of the workpiece W to face the painting tool 310. In this case, the painting operation can be completed without directing the painting tool 310 toward the base 321 of the work arm 320 by adjusting the posture of the workpiece W using the tilting drive unit 250 and the rotation drive unit 260 of the work holding unit 230. This suppresses paint adhesion to the work arm 320 itself, thereby reducing the frequency of maintenance on the work robot 300. Consequently, it is even more effective in improving the work efficiency of the work robot 300.

[0137] The work robot system 5 may further include a revolution control unit 411 that rotates the swivel unit 220 by a revolution drive unit 240 to move the workpiece holding unit 230 between the transfer area 24 and the work area 23, and a swivel attitude adjustment unit 412 that tilts all of the workpiece holding units 230 toward the central axis 204 of the revolution trajectory 203 by tilting by a tilt drive unit 250 for at least a portion of the period during which the revolution drive unit 240 rotates the swivel unit 220. In this case, all of the workpiece holding units 230 are tilted toward the central axis 204 of the revolution trajectory 203 for at least a portion of the period during which the revolution control unit 411 rotates the swivel unit 220. As a result the workpiece W moves toward the central axis 204 of the revolution trajectory 203, the orbital radius of the workpiece W associated with the rotation of the swivel unit 220 is reduced. Therefore, it is possible to reduce the space required for transporting the workpiece W. Furthermore, as the orbital radius of the workpiece W decreases, the centrifugal force acting on the workpiece W is reduced. In addition, as the workpiece holding section 230 tilts toward the central axis 204 of the orbital trajectory 203, resistance to centrifugal force is more easily generated. Therefore, it becomes possible to increase the rotational speed of the swivel section 220. Consequently, this is even more effective in improving the work efficiency of the work robot 300.

[0138] The slewing attitude adjustment unit 412 may, for at least a portion of the period during which the orbital drive unit 240 rotates the slewing unit 220, change the attitude of the workpiece W to avoid obstacles OB by rotating the workpiece holding unit 230 by the rotation drive unit 260. In this case, a further reduction in the space required for transporting the workpiece W becomes possible.

[0139] Production system 1 comprises a work robot system 5 and a handling robot 500 that transports workpieces W and transfers workpieces W between the workpiece holding unit 230 and the transfer area 24. The handling robot 500 has a transfer holding unit 510 that transfers workpieces W between the workpiece holding unit 230 and the transfer holding unit 510, and a multi-jointed handling arm 520 that moves the transfer holding unit 510. The base of the handling arm 520 is installed above the cell transport device 200. With this production system 1, by installing the handling arm 520 above the cell transport device 200, interference between the handling arm 520 and the cell transport device 200 is less likely to occur. In addition, it becomes easier to provide a workspace for workers below the handling arm 520. Therefore, it is effective in reducing the space required for production system 1.

[0140] The handling arm 520 may have a multi-joint first scalar arm 530 that moves its tip in a horizontal plane, and a multi-joint second scalar arm 540 that is connected to the tip of the first scalar arm 530 and moves the transfer holding part 510 in a vertical plane. In this case, interference between the handling arm 520 and the cell transport device 200 becomes even less likely. Also, it becomes easier to provide more workspace for workers below the handling arm 520. Therefore, it is even more effective in reducing the space of the production system 1.

[0141] The production system 1 includes multiple work robot systems 5, and the handling robot 500 may be installed so that a transfer holding unit 510 can be placed in the transfer area 24 of the multiple work robot systems 5. In this case, the handling arm 520 can be shared by the multiple work robot systems 5. Therefore, this is even more effective in reducing the space of the production system 1.

[0142] The production system 1 may further include a handling controller 600 that causes the handling robot 500 to transport the transfer holding unit 510 to the transfer area 24 of one of the work robot systems 5 and to transport the transfer holding unit 510 to the transfer area 24 of another work robot system 5 at different time intervals. In this case, the handling arm 520 can be shared by multiple work robot systems 5. Therefore, it is even more effective in reducing the space of the production system 1. Also, when the handling arm 520 is shared, it becomes necessary to adjust the operation of the work robot system 5 more precisely in accordance with the operation of the handling arm 520. For this reason, the above-mentioned effect of reducing both the working time and waiting time of the work robot 300 becomes even more beneficial.

[0143] The orbital control unit 411 of each work robot system 5 may rotate the swivel unit 220 to position the workpiece holding unit 230 for workpiece W transfer in the transfer area 24 at the same time that the handling robot 500 positions the transfer holding unit 510 in the transfer area 24. In this case, the time loss associated with sharing the handling arm 520 can be reduced.

[0144] Although embodiments have been described above, this disclosure is not necessarily limited to the embodiments described above, and various modifications are possible without departing from its essence. For example, in the embodiments described above, a configuration in which primer coating, main coating, and clear coating are all performed in a single work cell 2 was illustrated, but the disclosure is not limited to this. Each work cell 2 may be specialized for one of the following types of coating: primer coating, main coating, and clear coating.

[0145] Furthermore, the work performed by the robotic work system 5 is not necessarily limited to painting. It can be applied to any task that requires the workpiece W to be worked on to be placed around the robotic work robot 300. [Explanation of symbols]

[0146] 1...Production system, 5...Work robot system, 23...Work area, 24...Transfer area, 200...In-cell transport device (transfer device), 203...Orbital trajectory, 204...Central axis, 220...Swivel section, 230...Workpiece holding section, 240...Orbital drive section, 250...Tilting drive section, 253...Tilting axis, 254...Rotation axis, 260...Rotation drive section, 300...Work robot (robot), 310...Painting tool, 320...Work arm, 321...Base section, 411...Orbital control section, 412...Swivel attitude adjustment section, 413...Workpiece attitude adjustment section, 414...Robot control section, 500...Handling robot, 510...Transfer holding section, 520...Handling arm, 530...First scalar arm, 540...Second scalar arm, OB...Obstacle, W...Workpiece.

Claims

1. a rotating unit that can rotate around a central axis of a revolution orbit that passes through a workpiece transfer area and a work area where the robot works on the workpiece; a plurality of workpiece holders provided on the swivel section such that when one of the workpiece holders is located in the transfer area, the other is located in the working area; a revolution drive unit that revolves the revolving unit around the central axis of the revolution orbit; a tilting drive unit that tilts each of the plurality of workpiece holders relative to the central axis of the revolution orbit.

2. The transfer device according to claim 1 , wherein the tilting drive unit tilts each of the plurality of workpiece holders about an axis perpendicular to a central axis of the revolution orbit.

3. 3. The transport device according to claim 2, further comprising a rotation drive unit that rotates each of the plurality of workpiece holders about an axis perpendicular to the axis for tilting the workpiece holder.

4. The conveying device according to claim 3; The robot; a robot control unit that causes the robot to perform a predetermined operation on a workpiece held by the workpiece holding unit located in the work area; a workpiece posture adjustment unit that changes the posture of the workpiece by tilting the workpiece holding unit using the tilt drive unit while the robot is performing work on the workpiece held by the workpiece holding unit.

5. 5. The robot system according to claim 4, wherein the workpiece attitude adjustment unit changes the attitude of the workpiece by tilting the workpiece holding unit using the tilt drive unit and rotating the workpiece holding unit using the rotation drive unit while the robot is performing work on the workpiece held by the workpiece holding unit.

6. the robot includes a painting tool that dispenses paint, and a multi-joint work arm that changes the position and posture of the painting tool; the robot control unit moves the painting tool by the work arm without pointing the painting tool toward a base of the work arm; 6. The robot system according to claim 5, wherein the workpiece attitude adjustment unit tilts the workpiece holding unit by the tilt drive unit and rotates the workpiece holding unit by the rotation drive unit while the robot is moving the painting tool, thereby causing the entire surface of the workpiece to face the painting tool.

7. a revolution control unit that causes the revolution drive unit to rotate the swivel unit so as to move the workpiece holding unit between the transfer area and the working area; 7. The robot system according to claim 4, further comprising: a rotation attitude adjustment unit that tilts at least one of the workpiece holding units toward the central axis of the revolution orbit by tilting the tilt drive unit during at least a portion of a period during which the revolution drive unit rotates the rotation unit.

8. 8. The robot system according to claim 7, wherein the rotation attitude adjustment unit changes the attitude of the workpiece so as to avoid an obstacle by rotating the workpiece holding unit by the rotation drive unit during at least a portion of a period during which the revolution drive unit rotates the rotation unit.

9. a robot system according to claim 7 or 8; a handling robot that transports a workpiece and transfers the workpiece to and from the workpiece holder in the transfer area, The handling robot a transfer holder that transfers the workpiece between the workpiece holder and the transfer holder; a multi-joint handling arm that moves the transfer holding part, A production system, wherein the base of the handling arm is installed above the transport device.

10. The handling arm a first articulated scalar arm that moves a tip end thereof within a horizontal plane; 10. The production system according to claim 9, further comprising: a second articulated scalar arm connected to the tip end of the first scalar arm and configured to move the transfer holder within a vertical plane.

11. a plurality of the robot systems; 11. The production system according to claim 9, wherein the handling robot is installed so that the transfer holder can be placed in the transfer area of ​​a plurality of the robot systems.

12. 12. The production system according to claim 11, further comprising a handling control unit that causes the handling robot to transport the delivery holding unit to the delivery area of ​​one of the robot systems and to transport the delivery holding unit to the delivery area of ​​another of the robot systems at different time periods.

13. 13. The production system according to claim 12, wherein the revolution control unit of each of the robot systems rotates the swivel unit so as to place the workpiece holding unit for transferring the workpiece in the transfer area in accordance with timing at which the handling robot places the transfer holding unit in the transfer area.

14. In a conveying device including a swivel unit that can rotate around the central axis of a revolution orbit that passes through a workpiece delivery area and a work area for a robot to work a workpiece, and a plurality of workpiece holding units provided on the swivel unit so that when one of them is located in the delivery area, the other is located in the work area, the conveying device rotates the swivel unit by a revolution drive unit so as to move the workpiece holding unit between the delivery area and the work area; causing the robot to perform a predetermined operation on the workpiece held by the workpiece holder arranged in the work area; tilting the workpiece holding unit relative to the central axis of the revolution orbit by a tilt drive unit during a period in which the robot performs work on the workpiece held by the workpiece holding unit.

15. 15. The control method according to claim 14, further comprising: rotating the workpiece holding unit by a rotation drive unit about an axis perpendicular to an axis for tilting the workpiece holding unit during a period in which the robot performs an operation on the workpiece held by the workpiece holding unit.

16. the robot includes a painting tool that dispenses paint, and a multi-joint work arm that changes the position and posture of the painting tool; causing the robot to perform an operation of moving the painting tool by the work arm without pointing the painting tool toward a base of the work arm; 16. The control method according to claim 15, wherein, during a period in which the robot moves the painting tool, the tilting drive unit tilts the workpiece holding part and the rotation drive unit rotates the workpiece holding part, thereby causing the entire surface of the workpiece to face the painting tool.

17. rotating the swivel unit by the revolution drive unit so as to move the workpiece holding unit between the transfer area and the working area; 17. The control method according to claim 15 or 16, further comprising tilting at least one of the workpiece holding parts toward the central axis of the revolution orbit by tilting with the tilting drive part during at least a part of a period during which the revolution drive part rotates the swivel part.

18. 18. The control method according to claim 17, further comprising changing the attitude of the workpiece so as to avoid an obstacle by rotating the workpiece holding part by the rotation drive part during at least a portion of a period during which the revolution drive part rotates the swivel part.

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