Manufacturing method of the article

Abstract

To provide an article manufacturing method capable of efficiently performing multi-variety variable production.SOLUTION: An article manufacturing method uses a transportation device including a transportation surface 25 and a plurality of transportation bodies t moving on the transportation surface 25. An article 1 includes a plurality of components. The transportation surface 25 includes a working region. The manufacturing method includes a transportation step and a working step. In the transportation step, a single or a plurality of transportation bodies t transports a component to the working region. In the working region, work is performed with respect to a single or a plurality of components transported by the transportation step. The working step includes at least one or more steps of a step of combining a plurality of components transported by a single transportation body t or a separate transportation body t, a step of housing a content inside the component transported by the transportation body t, and a step of processing the component transported by the transportation body t.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for manufacturing an article using a conveying device including a conveying surface and a plurality of conveying bodies that move on the conveying surface. [Background technology]

[0002] An article made up of multiple components is manufactured by combining the components together. Such an article is manufactured by assembling components conveyed along a conveying path to which other components are attached along the conveying path. As an example of such a manufacturing method, Patent Document 1 discloses a manufacturing method for a product that is manufactured by conveying the product between multiple manufacturing stations by a conveying unit, in which the product structure and manufacturing process are modeled, and the manufacturing process is linked to the manufacturing sequence to control the manufacturing equipment.

[0003] Patent document 2 also discloses a system comprising a closed-loop primary conveying path, a secondary conveying path, a plurality of unit operation stations, and a plurality of conveying means, some of which are independently routable to send first and second conveying means carrying first and second items, respectively, to at least one of at least two unit operation stations, the first item being routable to form a customized product, and the second item being routable, independently of the first item, to form part of a series of mass-produced products. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2021-068439 [Patent Document 2] Patent Publication No. 2021-108150 Summary of the Invention [Problem to be solved by the invention]

[0005] However, products containing cosmetics, facial cleansers, cleansers, etc. may be sold in series with different volumes or ingredients, and each different series may require a unique manufacturing process. Therefore, when manufacturing a series of products or different types of products, a wide variety of manufacturing equipment may be installed, which may lead to increased capital investment and manufacturing space. The technologies of Patent Documents 1 and 2 leave room for improvement in terms of efficient, variable-volume production of a wide variety of products.

[0006] The present invention relates to providing a method for manufacturing an article that can efficiently perform variable-volume, multi-item production. [Means for solving the problem]

[0007] The present invention relates to a method for manufacturing an article using a conveying device including a conveying surface and a plurality of conveying bodies that move on the conveying surface. In one embodiment, the article preferably comprises multiple components. In one embodiment, the transport surface preferably has a working area where a working device performs work. In one embodiment, a transport step in which one or more of the transport bodies transport the component to the work area; It is preferable that the method further comprises a working step of performing work on one or more of the components transported by the transport step in the working area. In one embodiment, the work process preferably includes at least one of the following steps: a combination process for combining multiple components transported by a single carrier or separate carriers; a storage process for storing supply contents that are supplied without being transported by the carrier inside the components transported by the carrier; and a processing process for processing the components transported by the carrier. [Effects of the Invention]

[0008] According to the method for manufacturing an article of the present invention, it is possible to efficiently carry out variable-volume production of a wide variety of items. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing a part of a manufacturing apparatus used in a manufacturing method of an article according to the present invention, and one embodiment of an article manufactured by the manufacturing apparatus. [Figure 2] FIG. 2 is a side view of the manufacturing apparatus shown in FIG. 1 as viewed from the Y direction. [Figure 3] FIG. 3 is a plan view of the manufacturing apparatus shown in FIG. [Figure 4] FIG. 4 is a perspective view showing the carrier of FIG. [Figure 5] 5 is a perspective view showing the inside of the carrier shown in FIG. [Figure 6] FIG. 6 is a perspective view showing the transfer stage of FIG. 1, with some sections being seen through. [Figure 7] FIG. 7 is a block diagram of a manufacturing control unit included in the manufacturing apparatus shown in FIG. [Figure 8] FIG. 8 is a plan view showing an example of a movement path of the transfer body in the transfer stage shown in FIG. [Figure 9] FIG. 9 is a view corresponding to FIG. 4, showing another mode of conveyance of the conveyance body. [Figure 10] FIG. 10 is an exploded side view showing another article manufactured by the manufacturing apparatus shown in FIG. [Figure 11] 11(a) to 11(d) are side views showing an embodiment of a manufacturing method for manufacturing the article shown in FIG. 10 using the manufacturing apparatus shown in FIG. [Figure 12] FIG. 12 is a side view showing another embodiment of a manufacturing method for manufacturing the article shown in FIG. 10 using the manufacturing apparatus shown in FIG. [Figure 13] 13(a) and 13(b) are side views showing still another embodiment of the manufacturing method for manufacturing the article shown in FIG. 10 using the manufacturing apparatus shown in FIG. [Figure 14]14(a) to 14(c) are side views showing still another embodiment of the manufacturing method for manufacturing the article shown in FIG. 10 using the manufacturing apparatus shown in FIG. [Figure 15] FIG. 15 is a perspective view of another embodiment of the carrier. [Figure 16] 16(a) to 16(d) are side views showing an embodiment of the assembling step using the carrier shown in FIG. [Figure 17] FIG. 17 is a flow chart of a manufacturing method for manufacturing the article shown in FIG. 1 using the manufacturing apparatus shown in FIG. [Figure 18] FIG. 18 is a flow chart of another manufacturing method for manufacturing the article shown in FIG. 1 using the manufacturing apparatus shown in FIG. [Figure 19] FIG. 19 is a perspective view showing another embodiment of a carrier according to the present invention. [Figure 20] FIG. 20 is a schematic plan view showing how components are fed into the carrier shown in FIG. [Figure 21] 21(a) and (b) are plan views for explaining the two-stage alignment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, the method for manufacturing an article of the present invention (hereinafter also simply referred to as "manufacturing method") will be described based on its preferred embodiments with reference to the drawings. In the manufacturing method of this embodiment, an article is manufactured using a manufacturing apparatus 100 shown in FIGS. 1 and 3. The article includes a plurality of components. The components include parts that make up the article, contents contained inside the article, etc. In the manufacturing method of this embodiment, the components are transported by a transport body t, which will be described later. The article 1 of this embodiment is a bottle container 1 that contains a liquid such as a liquid cleanser or liquid cosmetic. The components of this bottle container 1 are a container body 1b that has a space for containing the liquid, and a cap 1c that is removably attached to the neck portion of the container body 1b. The neck portion is a cylindrical portion with an opening that allows the liquid to be discharged to the outside, and is formed at the upper end of the container body 1b. A threaded portion is formed on the outer peripheral surface of the neck portion, and by screwing it into a threaded portion (not shown) formed on the inner peripheral surface of the cap 1c, the cap 1c is attached to the neck portion.

[0011] The manufacturing method of this embodiment can suitably manufacture an article composed of multiple parts. Such an article may be a container containing a liquid, gas, powder, solid, or other content. Examples of the container include bottle containers containing liquids such as liquid cosmetics or liquid cleansers, squeeze containers, tube containers containing paste-like fluids, pouch containers, compact cases containing powder cosmetics such as foundation, blush, or eye shadow, and boxes containing solid soap. Containers containing liquids, such as bottle containers and squeeze containers, may be equipped with a pump dispenser or dispenser depending on the method of dispensing the liquid.

[0012] The item may also be an assortment product containing an assortment of multiple types of products. The products that make up the assortment product (hereinafter also referred to as "constituent products") are independent of each other, and the constituent products are the components of the assortment product. Examples of assortment products include a set product of lotion and emulsion, a set product of various makeup cosmetics, a set product of cosmetics or cleansers with different scents, and a set product of shampoo and conditioner. When a set product of lotion and emulsion is manufactured as an item, the components are the bottle container containing the lotion, the bottle container containing the emulsion, and the packaging such as a box that contains both bottle containers.

[0013] The manufacturing apparatus 100 of this embodiment includes a conveyance device having a conveyance stage 20 that forms a conveyance surface 25, and a plurality of conveyance bodies t that move on the conveyance surface 25. The manufacturing apparatus 100 also includes working devices W1 to W9 that have working areas on the conveyance surface 25, and a manufacturing control unit 50 (not shown in FIGS. 1 and 3) that controls the operations of the conveyance bodies t, the conveyance stage 20, and the working devices W1 to W9. The transport surface 25 is an area that has a planar extent and is the area in which the transport body t moves. In other words, it is the movable range of the transport body t. In this embodiment, the transport surface 25 is formed by the upper surface of the transport stage 20.

[0014] In the manufacturing apparatus 100 of this embodiment, the transfer stage 20 is placed on a horizontal surface and extends in the horizontal direction. The transfer stage 20 of this embodiment has an X direction and a Y direction perpendicular to the X direction, and has a rectangular shape that is long in the X direction (see FIGS. 1 and 3). The transfer stage 20 of this embodiment is composed of multiple segments 21. Each segment 21 is the smallest unit of hardware that is individually supplied with power and generates magnetic force. The transfer stage 20 can be composed of one or multiple segments 21. Furthermore, the transfer stage 20 can arbitrarily arrange multiple segments 21 to form the transfer surface 25 with a desired planar shape. In the transfer stage 20, the multiple segments 21 are arranged adjacent to each other in the X and Y directions, with no gaps between them. The transfer stage 20 of this embodiment is configured by arranging multiple segments 21 in both the X and Y directions. Each segment 21 has a segment body 22 that defines the outer shape of the segment 21. The segment body 22 has a square shape in a plan view. The upper surfaces of the segment bodies 22 are substantially flush with each other. As a result, the upper surface of the transfer stage 20, i.e., the transfer surface 25, is substantially flat.

[0015] The segment 21 of this embodiment includes a flat segment body 22 and a magnetic force generator 23 provided within the segment body 22 (see FIG. 6). The magnetic force generator 23 of this embodiment includes coils 23a, 23b, 23c, and 23d arranged along the periphery of the four sides of the segment body 22, and generates magnetic force using electric power. In a plan view, these coils 23a, 23b, 23c, and 23d are arranged in a substantially rectangular ring shape. In the segment 21, two coils 23a and 23d are arranged parallel to each other and facing each other, and two other coils 23b and 23c are arranged parallel to each other and perpendicular to the coils 23a and 23d. As described above, the transfer stage 20 of this embodiment generates magnetic force using electric power, but the transfer stage may also generate magnetic force without using electric power.

[0016] The carrier t of this embodiment has a flat carrier body tb and holding portions 10 and 12 provided on the upper surface of the carrier body tb and holding the components 1b and 1c (see FIG. 2). The carrier body tb has a substantially square shape with rounded corners in a plan view, as shown in FIGS. 3 and 4. The shape of the carrier body tb in a plan view may also be hexagonal, circular, or other shapes. The holding units 10 and 12 are fixed to the upper surface of the conveying body t by joining means such as bolts or adhesive. It is preferable that the holding units 10 and 12 are fixed to the upper surface of the conveying body t by positioning pins or positioning guide members. The multiple conveying bodies t may have different types of holding parts depending on the type of component being conveyed. In particular, when a single conveying body t conveys multiple components, it is preferable to provide multiple holding parts of different types on each conveying body t. In this case, it is preferable that the holding parts provided on each conveying body t are arranged in the same position on the top surface of the conveying body tb for each type of holding part. In other words, it is preferable that the holding parts of the same type are arranged in the same position on the top surface of the conveying body tb between conveying bodies t provided with the same type of holding part. Furthermore, when a conveying body t conveys a single component, it is preferable that the center position of the holding part on the top surface of the conveying body tb of the common type of holding part coincides with the center position of the top surface when the conveying body t is viewed in plan.

[0017] The holding part 12 shown in Fig. 4 has a cylindrical part 11b capable of accommodating the bottom part of the container body 1b, which is a component, and a plate part 11a on which the cylindrical part 11b is erected, and the plate part 11a is fixed to the upper surface of the transfer body tb. For ease of explanation, the cylindrical part 11b of the holding part 12 is not shown in Fig. 1. From the viewpoint of reducing the weight of the holding portion, the holding portion 12 that holds the constituent element (container body 1b) in an upright state is preferably made of synthetic resin, aluminum, or the like. Furthermore, although the conveying body t of this embodiment is provided with the holding portion 12, it does not necessarily have to be provided with the holding portion 12. The holding unit of the carrier t may be configured to hold the component in a grippable manner. An example of such a holding unit is a unit that includes a gripper that can be driven by the power of a battery provided on the carrier t, and that holds the component by gripping with the gripper. The gripping and release of the gripper by the holding unit is controlled by a control signal from the carrier t.

[0018] The holding unit 10 shown in Fig. 2 is a sheet member fixed to the upper surface of the transport body t. An adsorption sheet having micro-suction cups can be used as the holding unit 10. The micro-suction cups have many tiny concave holes, and when a pressing force is applied from above the micro-suction cups due to the weight of a component, they exert an adsorption force on the pressed component.

[0019] The carrier t in this embodiment is identifiable and is provided with identification information. The identification information is information for identifying each carrier t and may be displayed using, for example, letters, numbers, symbols, or a combination thereof, or may be displayed in an electronically readable manner. Examples of optically or electronically readable display methods include two-dimensional codes such as barcodes and QR Codes (registered trademarks), and electronic information media such as RFID (Radio Frequency Identification) tags. RFID tags can be read by an RFID reader (RFID antenna). The identification information may also be the arrangement of the magnet arrays 33a, 33b, 33c, and 33d of the carrier t, or the shape of a specific part of the carrier t (a shape unique to each carrier t). The identification information may be assigned to the vehicle t based on a video of the vehicle t on the transport stage 20. For example, based on an analysis of a video stream relating to the vehicle t, the behavior of the vehicle t may be monitored and analyzed, and an identifier (identification information) that associates multiple characteristics of the vehicle t with the tracking of the vehicle t may be assigned.

[0020] The carrier t has magnets (permanent magnets) inside the carrier body tb. More specifically, the carrier body tb has magnet arrays 33a, 33b, 33c, and 33d arranged along the periphery of the four sides of the carrier body tb (see FIG. 5). The magnet arrays 33a, 33b, 33c, and 33d are arranged in a substantially rectangular ring shape. On the conveyance body t, two magnet arrays 33a and 33d are arranged parallel to each other and facing each other, and two other magnet arrays 33b and 33c are arranged parallel to each other and perpendicular to the magnet arrays 33a and 33d. The carrier t may be provided with a single magnet array instead of multiple magnet arrays.

[0021] The transfer stage 20 has a magnetic force generator 23 that uses electric power to generate magnetic force, and through interaction with the magnet arrays 33a, 33b, 33c, and 33d, levitates the transfer object t from the transfer stage 20 and moves it on the transfer stage 20. More specifically, when electric power is supplied to the magnetic force generator 23 provided in each segment 21 of the transfer stage 20, magnetic force is generated in the horizontal direction (X direction and Y direction). This magnetic force causes the transfer object t to levitate from the upper surface of the transfer stage 20 (segment 21) and move in the horizontal direction (X direction and Y direction). The transfer stage 20 may move the transfer body 30 by changing the distance, angle, polarity direction of the magnets provided on the stage, or a combination of these.

[0022] The moving direction of the conveyance body t can be changed depending on the manner of power supply to the multiple coils 23a, 23b, 23c, and 23d provided in the segment 21, for example, the combination of coils supplying power. As a result, on each segment 21, each conveyance body t can be moved in one of the X and Y directions, or a combination of both. For example, if the Y direction is the front-to-back direction and the X direction is the left-to-right direction, the conveyance body t can be moved in a desired direction selected from forward, backward, left, right, and diagonal directions thereof. In this embodiment, the conveyance body t can move along movement paths C1 to C4, which are either a path of linear movement in the X or Y direction, or a path of linear movement in a diagonal direction relative to the X or Y direction, or a combination of both (see FIG. 8 ). The conveyance body t can also curve and move in a diagonal direction relative to the X or Y direction, and can also rotate or revolve. That is, the conveyance body t can move linearly, curvedly, or rotate in any direction in a plan view, or a combination of these. In this way, the conveyance body t is allowed to move freely on the conveyance surface 25. Details of the setting of the movement path will be described later.

[0023] In this embodiment, by floating and moving the transport object t above the transport surface 25, the mechanical resistance (friction) between the transport object t and the transport surface 25 becomes close to zero, and the transport object t can be moved at high acceleration. In other words, the travel time until the transport object t reaches the target point can be shortened, which makes it possible to improve efficiency and productivity. Furthermore, the conveying body t of this embodiment can also be raised from the conveying surface 25 and tilted horizontally. For example, the conveying body t can be moved with the front side in the direction of travel tilted lower than the rear side, preventing components on the conveying body t from shifting backward or falling. This is particularly effective when accelerating the moving speed of the conveying body t. Conversely, the conveying body t can be moved with the front side in the direction of travel tilted higher than the rear side, preventing components on the conveying body t from shifting forward or falling. This is particularly effective when decelerating the moving speed of the conveying body t.

[0024] As described above, the transport body t in this embodiment floats in the normal direction relative to the transport surface 25 (each segment 21) of the transport stage 20. In this embodiment, each transport body t floats upward in the vertical direction Z relative to the transport surface 25 (each segment 21). The amount of float by which each transport body t floats above the transport stage 20 (each segment 21) is approximately the same. The amount of float is the distance between the transport surface 25 and the bottom surface of the transport body t in the normal direction of the transport stage 20 (hereinafter simply referred to as the "normal direction"). In this embodiment, the distance between the bottom surface of the transport body t and the transport stage 20 in the vertical direction Z is the amount of float of the transport body t. From the viewpoint of smoother transport, the amount of float of the transport body t is preferably 3 mm or more and 20 mm or less, and more preferably 10 mm or more and 20 mm or less.

[0025] The operating principle of levitating and moving the transport body t using the magnetic force generating unit 23 of the transport stage 20 is similar to the principle of levitating and moving a movable stage equipped with multiple magnet arrays using the coils of the stator stage disclosed in JP-A-2014-531189.

[0026] The transport stage 20, which is an assembly of multiple segments 21, has a larger area (planar dimensions) than the transport body t. The area (planar dimensions) of the segments 21 may be larger than, equal to, or smaller than the area (planar dimensions) of the transport body t. In this embodiment, the segments 21 have a larger area (planar dimensions) than the transport body t. From the viewpoint of controlling the movement of the transport body t with higher precision, the length of one side of the square segment 21 is preferably between two and four times the length of one side of the approximately square transport body t.

[0027] The manufacturing apparatus 100 of this embodiment is equipped with working devices W1 to W9 that perform work on one or more components (see FIG. 8). More specifically, the manufacturing apparatus 100 is equipped with a supplying device W1 that supplies a component to a movement path on the conveying surface 25, filling devices W2, W3, W6, and W8 that fill the components with contents, and combining devices W4, W5, W7, and W9 that combine the components. The supply device W1 includes a work holding unit 32 equipped with a suction pad and a device body 31 that supports the work holding unit 32 so that it can be raised and lowered. As shown in Fig. 1, the supply device W1 has a work holding unit 32 that can be raised and lowered in the vertical direction Z by the device body 31 and can also rotate horizontally around the device body 31 as an axis. As a result, the container body 1b arranged outside the conveying stage 20 is gripped by the work holding unit 32 with the suction pad, moved onto the conveying surface 25, and loaded onto an unloaded conveyed body t on the conveying surface 25. The component may be held by the work holding unit 32 not only by suction with a suction pad but also by gripping or clamping with a gripper or the like.

[0028] The manufacturing apparatus 100 of this embodiment is equipped with multiple filling devices W2, W3, W6, and W8. These filling devices have a common configuration except for the composition of the contents (liquid) to be filled. Here, the configuration of filling device W2 will be described. The description of filling device W2 can also be applied to the other filling devices W3, W6, and W8. As shown in Figures 1 and 2, the filling device W2 comprises a filling nozzle 35 that fills the container body 1b with liquid, and a movable nozzle support part 34 that holds the filling nozzle 35. The filling nozzle 35 has an opening / closing mechanism at its base and is connected to a supply hose through which the liquid is supplied. The diameter, length, etc. of the filling nozzle 35 can be selected to suit the contents to be filled. The movable nozzle support part 34 is in the form of a robot arm and comprises an arm that holds the filling nozzle 35 at its tip (end effector) and a support part that can move the tip of the arm up and down and / or rotate it in any direction (for example, horizontally).

[0029] The manufacturing apparatus 100 of this embodiment is equipped with multiple combination devices W4, W5, W7, and W9. These combination devices have a common configuration. Here, the configuration of the combination device W4 will be described. The description of the combination device W4 can also be applied to the other combination devices W5, W7, and W9. The combination device W4 is in the form of a robot arm. More specifically, the combination device W4 includes a robot hand 38 and a hand movable support unit 37 that holds the robot hand 38. The hand movable support unit 37 includes an arm that holds the robot hand 38 at its tip (end effector), and a support unit that can move the tip of the arm up and down and / or rotate it in any direction (for example, horizontally).

[0030] These working devices W1 to W9 perform their work operations on the transfer surface 25. The transfer surface 25 has a work area where the working devices W1 to W9 perform their work. The working area is the area on the transport surface 25 where the working devices W1 to W9 perform their work, and is the movable area of ​​the end effectors of the movable support parts (arms) such as the nozzle movable support part 34 or the hand movable support part 37. It includes the working positions where the working devices W1 to W9 perform their work. The working positions are reference positions on the transport surface 25 when the working devices W1 to W9 perform their work, and are set as coordinate positions (X, Y) on the transport surface 25.

[0031] For example, the working position P1 of the supply device W1 in the manufacturing method of the bottle container 1 is a loading position on the conveying surface 25 when the container body 1b is loaded onto the conveying body t. The working positions P2 and P3 of the filling devices W2 and W3 are filling positions on the conveying surface 25 where the filling nozzle 35 supplies liquid to the container body 1b, and are positions where the central axis of the discharge port of the filling nozzle 35 is located during filling. The working position P4 of the combination device W4 is a gripping position P4a on the conveying surface 25 where the robot hand 38 grips the cap 1c and an attachment position P4b where the robot hand 38 attaches the cap 1c to the container body 1b. In this way, the transfer surface 25 of this embodiment has a plurality of work positions for different types of work according to the work devices W1 to W9 for different types of work, and a work area including these work positions.

[0032] The route (path) of the transport body t from the movement start point to the destination point on the transport stage 20 can be set arbitrarily, and the route can be set for each transport body t. Furthermore, the route is not necessarily uniquely determined, but can be changed to an arbitrary route as needed depending on the movement, arrangement, etc. of other transport bodies t. The movement of the transport object t on the transport surface 25, including the setting and changing of the path, is controlled by the manufacturing control unit 50. The manufacturing control unit 50 is communicatively connected to the transport stage 20 (segment 21) via a network. The transport stage 20 sets or changes the movement path of the transport object t under the control of the manufacturing control unit 50. The manufacturing control unit 50 may also be communicatively connected to the transport object t.

[0033] The manufacturing control unit 50 includes a communication module 51, a transport information acquisition unit 52, a path generation unit 53, and a transport control unit 54 (see FIG. 7). The communication module 51 is capable of communicating with the transfer stage 20, the transfer body t, and the working devices W1 to W9, and receives signals from the transfer stage 20 and the working devices W1 to W9, as well as identification information and position information of the transfer body t. The communication module 51 also transmits various pieces of information generated or calculated by the path generation unit 53 (such as path information or path change information for the transfer body t, which will be described later) to the transfer stage 20 (segment 21). The communication module 51 can be, for example, a communication module compatible with LTE, 4G, or 5G, or a communication module compatible with existing standards such as IEEE802.11.

[0034] The transport information acquisition unit 52 chronologically records the identification information and position information of the transport body t. The position information of the transport body t is information related to the coordinate position of the transport body t on the transport stage 20, and includes information on the coordinate position where the transport body t is actually located (hereinafter also referred to as the "actual coordinate position") and the coordinate position of the planned movement path (hereinafter also referred to as the "planned coordinate position"). In this embodiment, these coordinate positions are indicated as positions (X, Y) in the X direction and the Y direction when the transfer stage 20 is viewed from above. While the manufacturing apparatus 100 is in operation, the transfer information acquisition unit 52 acquires position information of the transfer object t every 0.01 to 1 second. This makes it possible to show (map) the continuous change over time (trajectory) of the actual coordinate position as the path that the transfer object t actually moved. The information on the planned coordinate position is information that indicates the planned route from the movement start point of the transport body t to the target point using continuous coordinate positions. The movement start point and the target start point are each indicated by a coordinate position on the transport stage 20. This makes it possible to grasp the actual coordinate position (current location) on the planned route on the transport surface 25. The information on the planned coordinate position is generated by the path generating unit 53. Furthermore, based on the signals or the information on the actual coordinate position received from the work devices W1 to W9, the path generating unit 53 changes the information on the planned coordinate position to change the planned path of the transport body t.

[0035] In this embodiment, it is preferable to obtain position information for each of the multiple sections that make up the transfer stage 20. The section is made up of a segment 21 of the transfer stage 20 or a collection of two or more segments 21. For example, a collection of four segments 21 that form a square can be set as one section. From the perspective of obtaining more detailed position information, it is preferable that the section set on the transfer stage 20 be for each single segment 21.

[0036] The transport information acquisition unit 52 associates and records the identification information of the transport body t with information on the components transported by the transport body t. That is, for each transport body t, the components transported by the transport body t are recorded. In this embodiment, the transport information acquisition unit 52 associates and records the identification information of the transport body t, position information corresponding to the transport body t, and information on the components transported by the transport body t. The identification information, position information, and information on the components are stored in a recording unit (not shown) of the manufacturing control unit 50.

[0037] The path generating unit 53 generates or changes the movement path of the transport body t on the transport stage 20. In other words, it generates or changes the planned coordinate position (planned path). The movement path on the transport stage 20 can be set as a trajectory that connects the coordinate positions of the transport body t on the stage 20. The path generating unit 53 generates a movement path along which the conveyance body t moves through the working areas corresponding to the individual working devices on the conveying surface 25 in the order of the manufacturing process for manufacturing the article. This movement path is set for each conveyance body t based on the identification information. For example, in a manufacturing apparatus 100 equipped with working devices W1 to W9 as shown in FIG. 8, movement paths C1 to C4 can be set to move through the working areas in the following order. In each of the movement paths below, the movement start point is indicated by "21a" and the destination point is indicated by "21b". The movement paths C1 to C4 shown in FIG. 8 are movement paths of the conveyance body t that transports components (e.g., container bodies 1b and 2b) that are to be subjected to the storing process. Route C1: 21a → W1 → W2 → W4 → 21b Route C2: 21a → W1 → W3 → W4 → 21b Route C3: 21a → W5 → W6 → W7 → 21b Route C4: 21a → W8 → W9 → 21b In the manufacturing method of this embodiment, the plurality of transport bodies t simultaneously transport (move) along these movement paths C1 to C4.

[0038] The above movement paths C1 to C4 have in common that the start point is within segment 21a and the destination point is within segment 21b. These movement paths C1 to C4 are paths that move to different work areas except for the start point (segment 21a) and the destination point (segment 21b). In this configuration, if the types of work (types of processes) performed by each work device are different, different types of articles can be manufactured by moving the transport body t along each of the movement paths C1 to C4. Furthermore, even if the type of work is the same among a plurality of work devices, different types of articles can be manufactured for each of the movement paths C1 to C4 by varying the contents to be filled, the components to be combined, or the processing, etc. Therefore, by varying the movement paths C1 to C4 for each conveyance body t, different types of articles can be manufactured.

[0039] The path generating unit 53 generates a movement path for moving the transport body t to the working area including the working position based on information on the working area of ​​the working device and the working position included in that area. The working position and the working area including it are set in advance for each working device. The path generation unit 53 can use a known algorithm to generate or change the movement path, for example, Dijkstra's algorithm, A-star algorithm, etc. The path generation unit 53 is configured to set the current position of another conveying body t and a movement area (planned coordinate position) that precedes the other conveying body t by a predetermined time as obstacles in the movement path of the other conveying body t, and to generate or change a path that avoids the other conveying body t.

[0040] The transfer control unit 54 transmits a work start signal (work start command) to the working devices W1 to W9 based on the position information of the transfer body t. Furthermore, based on the work completion signals transmitted from the working devices W1 to W9, the transfer control unit 54 transmits to the transfer stage 20 a movement command to move the transfer body t to the next work position, a target point movement command to move the transfer body t to the target point, or a return movement command to return the transfer body t to the movement start point. Based on these movement commands, the transfer stage 20 controls the magnetic force to move the transfer body t to either the next work position, the target point, or the movement start point.

[0041] The manufacturing control unit 50 described above includes a CPU, a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, a camera, a display unit, and an input device through which the user performs input operations. The CPU may include a graphics processing unit (GPU) for displaying images, a multimedia processor for encoding and decoding high-definition (HD) video and the like, a display controller for controlling the display, and a power management integrated circuit (IC) for controlling power supply and charging. The display unit included in the manufacturing control unit 50 may be a touch panel or the like that combines display and operation functions. The manufacturing control unit 50 may also be manually operated. In this case, examples of the input device include a touch panel, keyboard, keypad, touchpad, mouse, microphone, and the like.

[0042] The processes performed by each part of the manufacturing control unit 50 (such as the transport control unit 54) are realized by the CPU expanding a program stored in a ROM, a disk, etc. into a RAM and executing it. The processes may be realized by an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), or may be realized by a combination of an ASIC and an FPGA.

[0043] Next, the manufacturing method of this embodiment will be described with reference to FIGS. 1 to 3, taking the manufacturing method of the bottle container 1 shown in FIG. 1 as an example. The manufacturing method of this embodiment includes a transport information acquisition process for acquiring transport information, a transport process for transporting components to a work area by a transport body t, and a work process for performing work on the components in the work area. The transport information acquisition process, the transport process, and the work process are performed by the manufacturing apparatus 100 described above.

[0044] The transport information acquisition process is a process of acquiring information related to the transport of the transport body t, and includes a position information acquisition process of acquiring position information and a component information acquisition process of setting the components to be transported for each transport body t. The position information acquisition process acquires position information of each conveyed body t on the conveying surface 25, i.e., information on the actual coordinate position and the planned coordinate position. In this process, the identification information of each conveyed body t1, t2 is associated with the position information of the conveyed bodies t1, t2. A planned path (planned coordinate position) is set in advance for each identification information of the conveyed body t by the path generation unit 53. In other words, a movement path is set in advance for each conveyed body t1, t2. In the position information acquisition process of this embodiment, position information is acquired in real time while the conveyed body t is being conveyed. The component information acquisition process associates the identification information of each of the conveyance bodies t1 and t2 with information on the components (container body 1b, cap 1c) conveyed by the conveyance bodies t1 and t2. That is, the type of the component to be conveyed is set based on the identification information of the conveyance bodies t1 and t2.

[0045] The above-mentioned transportation information acquisition process makes it possible to grasp each transport body t, the actual travel path of the transport body t, and the components transported by the transport body t, thereby making it possible to trace the products manufactured by the transportation of each transport body t. The transport information acquisition step of this embodiment is executed by the transport information acquisition unit 52, and the acquired information is stored in a storage unit (not shown) of the manufacturing control unit 50.

[0046] In the conveying process of this embodiment, one or more conveyance bodies t convey components to a work area. In the conveying process, the conveyance bodies t1 and t2 are moved along a movement path set for each conveyance body t1 and t2. For example, they are moved along movement path C1 or movement path C2 (see FIGS. 3 and 8). Each movement path moves the conveyance body t1 to a work area corresponding to each work device W1 to W4. In addition, in the conveying process, for another conveyance body t2, the conveyance body t2 is moved along a movement path (indicated by a white arrow in FIG. 3) that moves the conveyance body t2 to the work area corresponding to the combination device W4 in the order of a movement start point (not shown in FIG. 3) → a combination device W4 → a movement start point. In this way, the conveyance body t1 that conveys the container body 1b and the conveyance body t2 that conveys the cap 1c each have a different movement path (see FIG. 3). These movement paths constitute a manufacturing line for the product (bottle container 1).

[0047] 1 and 3, a single carrier t1 carries the container body 1b, and a single carrier t2 carries the cap 1c. Thus, the carrier process of this embodiment includes a multiple-type carrier process in which multiple different carriers t1 and t2 carry multiple components 1b and 1c. In the multiple-type carrier process, the component information acquisition process establishes a one-to-one correspondence between the carrier t and the component being carried by the carrier t. In the embodiment shown in FIGS. 1 and 3, the multiple-type conveying step conveys each of the multiple components 1b, 1c that make up one type of article 1 (bottle container 1) by multiple conveyors t1, t2.

[0048] In the manufacturing method of this embodiment, a transport step in which a transport body t loaded with components moves to a work area is performed for each work step. For example, if both a filling step and a combining step are provided, a transport step in which the transport body t moves to the work area of ​​the filling devices W2 and W3 and a transport step in which the transport body t moves to the work area of ​​the combining device W4 are provided. In this way, a transport step in which a transport body is moved to the work area of ​​the work step is provided corresponding to the work step. Furthermore, if a supply step is provided, a supply movement step in which an unloaded transport body t moves to the work area of ​​the supply device W1 is provided.

[0049] The working process includes at least one of an assembling process for assembling a plurality of components, a housing process for housing contents inside the components, and a processing process for processing the components. In addition to these processes, the working process may also include a supplying process for supplying components to the movement path from outside the conveying surface 25. The working process may include any one of a supplying process, a containing process, a combining process, and a processing process, or may include a combination of two or more of these processes. The working process shown in Figures 1 and 3 includes a supplying process, a containing process, and a combining process, in this order. More specifically, the supplying process is performed by a supplying device W1, followed by a containing process by filling devices W2 and W3, and then a combining process by a combining device W4. In this containing process, the contents are contained inside a container body 1b, which is one component, and in the subsequent combining process, a cap 1c, which is another component, is attached to the container body 1b. The working process of this embodiment may include one or more of a supplying process, a storing process, and a processing process before the combining process, and may include one or more of a supplying process, a storing process, and a processing process after the combining process. Each of the work steps, including the supplying step, storing step, assembling step, and processing step, may be performed while the transport body t is moving. For example, in each work step, the arm 37 or robot hand 38 of the work device W may be caused to follow the movement of the transport body t. In this case, multiple work positions are set consecutively in accordance with the following. This makes it possible to further reduce the time when no work is being performed, thereby further improving work efficiency and productivity.

[0050] In the supply step, the components are loaded onto the conveyance body t from outside the conveyance surface 25. That is, the components are supplied to the movement path without relying on the conveyance of the conveyance body t. In the supplying step of this embodiment, the supplying device W1 loads the container bodies 1b onto the carrier t1 on the conveying surface 25 (see FIGS. 1 and 3). In other words, the container bodies 1b are loaded onto the carrier t1 that has moved to the working area of ​​the supplying device W1. In the supplying device W1, the landing point of the container bodies 1b, which are lowered by the working holder 32 on the conveying surface 25, is the working position P1, and the carrier t1 moves to this working position P1. This allows the container bodies 1b to be placed on the carrier t1. In the supplying step of this embodiment, as shown in FIG. 3, the container bodies 1b are inserted into the cylindrical portion 11b of the holder 12 and placed on the carrier t. After this supplying step, the carrier t1 loaded with the container bodies 1b moves to the working area of ​​one of the two filling devices W2, W3.

[0051] The manufacturing method of this embodiment includes a supply step (not shown) in which another supply device loads caps 1c onto a carrier t2 on the conveying surface 25. This supply step is performed by a supply device equipped with a robot arm equipped with a robot hand. The supply of caps 1c from outside the conveying surface 25 is performed at the start point of the movement path of the carrier t2. The start points (coordinate positions) of the movement of the carriers t1 and t2 on the conveying surface 25 may be different.

[0052] In the storing process, contents are stored inside the component transported by the transport body t. Contents that are supplied without being transported by the transport body t are also referred to as "supplied contents" hereinafter. In the storing process, supplied contents, which are the contents of an article, are supplied to the component from outside the transport surface 25. In the storing process, an operation is performed to store the supplied contents inside the component. Such operations include filling the component with gas, liquid, or powder contents, storing solids, etc.

[0053] The accommodation step in this embodiment is a filling step in which the filling devices W2 and W3 fill the container body 1b with a liquid supply content (see FIG. 3). The two filling devices W2 and W3 performing the filling step have different supply content compositions. The filling step is performed on the container body 1b on the carrier t1 that has moved to the work area of ​​either of the filling devices W2 and W3. The filling devices W2 and W3 have working positions P2 and P3, respectively, where the filling nozzle 35, which is raised and lowered by an arm (movable nozzle support unit) 34 on the conveyance surface 25, is located. The carrier t1 moves to the working positions P2 and P3. This allows the filling devices W2 and W3 to fill the container body 1b on the carrier t1 with the supply content via the filling nozzle 35 at the working positions P2 and P3 (filling position). After this accommodation step (filling step), the carrier t1 carrying the container body 1b filled with the content, moves to the work area of ​​the combination device W4.

[0054] The contents may be supplied to the filling devices W2 and W3 used in the containing step by a conveyance t. For example, the conveyance t may convey a container containing the contents to the working area of ​​the filling devices W2 and W3, and the filling devices W2 and W3 may replenish the contents from the container. In this case, the filling nozzle 35 of the filling devices W2 and W3 also functions as a suction nozzle.

[0055] The assembling process combines multiple components transported by a single carrier t or separate carriers t. The assembling process involves combining multiple components. Such processes include assembling multiple components, joining multiple components, etc. Assembling includes operations such as attaching, mounting, or arranging one component to another. Mounting includes operations such as engaging, fitting, and screwing. Fitting includes clearance fitting, interference fitting (press fitting), intermediate fitting, etc. Mounting includes operations such as bonding by adhesive or fusion. Arranging includes operations such as inserting and placing, regardless of whether the components are fixed to each other. For example, placing includes an operation of placing another component in a recess of a component.

[0056] The combining step in this embodiment is a fitting step in which the combining device W4 fits a cap 1c to the neck of the container body 1b. In this fitting step, the cap 1c on a separate carrier t2 that has been moved to the working area of ​​the combining device W4 is fitted to the container body 1b on the carrier t1 that has been moved to the working area of ​​the combining device W4. In the combining step of this embodiment, two positions on the conveying surface 25, namely, a gripping position P4a of a robot hand 38 moved by an arm 37 of the combining device W4, and a rotation position P4b of the robot hand 38, serve as working positions P4 of the combining device W4. A conveying body t2 carrying a cap 1c moves to gripping position P4a, and a conveying body t1 carrying a container body 1b filled with contents moves to rotation position P4b. As a result, the combining device W4 allows the robot hand 38 to grip the cap 1c on the conveying body t2 at gripping position P4a, and then, by rotating the robot hand 38 at rotation position P4b, attach (screw) the cap 1c to the neck portion of the container body 1b on the conveying body t1.

[0057] In this way, the bottle container 1 is completed on the conveying body t1. After the combining process (attaching process), the conveying body t1 moves to the target point (segment 21b) to convey the bottle container 1. After conveying the cap 1c, the conveying body t2 moves to the movement start point based on a return movement command signal from the manufacturing control unit 50. After returning to the movement start point, the conveying body t2 receives the cap 1c from outside the conveying surface 25 and then moves again to the gripping position P4b. The conveying body t2 repeatedly moves back and forth between the movement start point and the gripping position P4b.

[0058] As in the above-described combination process, in the work process, a plurality of work positions P4a, P4b corresponding to separate conveyance bodies t1, t2 may be set in a work area corresponding to a single work device W4 (see FIG. 3). In this case, the plurality of work positions P4a, P4b in the same work area have different coordinate positions on the conveyance surface 25. Furthermore, in the working process, as in the above-described filling process, a single working position P2, P3 corresponding to a single conveyance body t1 may be set in a working area corresponding to a single working device W2, W3 (see FIG. 3). In this case, a working area having a different coordinate position on the conveyance surface 25 is set for each working device W2, W3, and working positions P2, P3 are set within each working area.

[0059] Furthermore, when multiple work devices are provided, the same or different work positions may be set for these multiple work devices within the same work area, or the same or different work positions may be set in an area where different work areas overlap. For example, the work areas corresponding to the multiple work devices may overlap at least partially or entirely, and one or more work positions corresponding to the multiple work devices may be set in the area where the work areas overlap. In other words, the work positions are set so that the multiple work devices share one or more work positions. In such an embodiment, the work devices corresponding to the overlapping work areas may perform different types of work, or the types of work performed by the devices may be the same. For example, two filling devices may share the same work position within the same work area. In this case, by differentiating the compositions of the contents filled by the two filling devices, contents of different compositions can be filled into container body 1b transported to the single work position by conveyance body t, and these contents can be mixed within container body 1b by the rotation of conveyance body t. Furthermore, multiple work positions may be shared by multiple work devices within an overlapping work area. For example, two work positions set within the overlapping area may each be assigned to two work devices performing different types of work. In this case, one work device and the other work device may perform work on a component on a transport body t located at one of the two work positions, while the other work device and the first work device may perform work on a component on another transport body t located at the other of the two work positions. In other words, work corresponding to one and the other work devices can be performed simultaneously on each component on two transport bodies t located at each of the two work positions. This reduces the waiting time for the next work, further improving production efficiency. Furthermore, when the work positions are set so that multiple work devices share one or more work positions, the work corresponding to the multiple work devices may be performed at the same time. That is, the work corresponding to two work devices may be performed at the same time for components transported to the same work position or multiple work positions. Examples of such configurations include a configuration in which a filling device and a labeling device fill and attach labels at the same time for components transported to the same work position, a configuration in which a filling device and a decorating device fill and decorate at the same time, and a configuration in which a processing device that processes the top surface of a component and a processing device that processes the side surface of the component process the top surface and the side surface, respectively, at the same time.

[0060] In the manufacturing method of this embodiment, the conveyance body t conveys a plurality of components, and by varying the movement path on the conveyance surface 25, different types of articles can be efficiently manufactured. For example, as shown in FIG. 3, by moving the conveying body t1 conveying the container body 1b to the working area (working positions P2, P3) of either the filling device W2 or the filling device W3, bottle containers 1 filled with contents (supply contents) of different compositions can be manufactured. That is, in the manufacturing method of this embodiment, by varying the movement paths C1, C2 of the conveying body t1 conveying the container body 1b, two types of bottle containers 1 with different contents can be manufactured. Furthermore, when manufacturing a different type of product, no major equipment modifications are required. Simply by setting a working area (working position) on the conveying surface 25 and adding or changing (switching) the working device required for manufacturing the different type of product, the different type of product can be manufactured. Furthermore, since the conveying body t on the conveying surface 25 conveys the components during the conveying process, storage space for the components can be saved. The manufacturing method of this embodiment is effective in that it can flexibly respond to fluctuations in the number of types of products or production volume, particularly when producing a wide variety of products in variable quantities. In other words, it can be easily customized according to the type of product (product), and it is possible to suppress increases in capital investment and manufacturing space.

[0061] Furthermore, the container bodies 1b filled by each filling device W2, W3 are moved by the conveyor t1 to the work area (work position P4) of the same combining device W4. In this way, when there are common work processes but different items are being manufactured, by including a work area corresponding to the common work device W4 in part of the movement paths C1, C2, it is possible to consolidate some of the manufacturing processes for different types of items into the work of the same work device W4. In other words, when manufacturing different types of items, part of the movement path of the conveyor t can be shared. This makes it possible to suppress increases in capital investment and manufacturing space. Therefore, the manufacturing method of this embodiment can efficiently carry out variable-volume, multi-item production.

[0062] From the viewpoint of further improving the accuracy of the work performed by the working device, it is preferable that in the conveying step, the alignment of the specific portion of the working device with the specific position of the component is performed by moving the conveying body t. For example, when performing a work process using filling devices W2 and W3, the accuracy of the filling process can be improved by aligning the position of the central axis of the opening of filling nozzle 35 (a specific part of the work device) with the position of the central axis of the opening of the neck portion of container body 1b (a specific position of a component). In this case, the position of the central axis of the opening of filling nozzle 35 on conveying surface 25 during filling is set to working positions P2 and P3, and in the conveying process, conveying body t1 is moved so that working positions P2 and P3 in a plan view coincide with the position of the central axis of the opening of the neck portion of container body 1b on conveying body t1. Furthermore, when performing a work process using the combining device W4, the position of the robot hand 38 (a specific part of the working device) and the position of the outer circumferential surface of the container body 1b (a specific position of the component) are aligned to further improve the accuracy of the combining process. In this case, the position of the robot hand 38 on the conveying surface 25 during combination is set to working position P4, and in the conveying process, the conveying body t1 is moved so that working position P4 in a plan view coincides with the position of the outer circumferential surface of the container body 1b on the conveying body t1. When performing the above-described alignment, the conveyance body t is moved in a linear manner, a curved manner, a rotational manner, or a combination thereof in an arbitrary direction in a plan view. The alignment is performed by the conveyance control unit 54.

[0063] In the manufacturing method described above, the conveying process is a multiple-type conveying process, but is not limited to this conveying mode. The conveying process may also be a single-type conveying process in which a single conveying body t conveys multiple components. In a single-type conveying process, for example, as shown in FIG. 9, a single conveying body t3 is loaded with a container body 1b and a cap 1c and conveyed. That is, in a single-type conveying process, at least two or more components of one type of product are conveyed by a single conveying body t3. In this case, even if there are no separate conveying bodies t1 and t2 that convey the container body 1b and the cap 1c, the bottle container 1 can be manufactured by moving the conveying body t3 loaded with the container body 1b and the cap 1c along the movement path C1 (see FIG. 3). In the single-type transport step, the single transport body t3 and the multiple components transported by the transport body t3 correspond to each other through the component information acquisition step. The transport step may include either a single-type transport step or a multiple-type transport step, or both. That is, the transport step may include a combination of a single-type transport step and a multiple-type transport step.

[0064] When a single-type transport process is performed, multiple components are placed on a single transport body t3. In a working process after the single-type transport process, if the components to be worked on by multiple operating devices are different on the transport body t3, it is preferable to perform two-stage alignment by moving the transport body t3. The two-stage alignment includes a first alignment and a second alignment. The first alignment aligns a specific portion of the operating device with a specific position on the transport body t in a planar view. In other words, the first alignment moves the transport body t3 so that the position of the specific portion of the operating device (operation position P) overlaps with the specific position of the transport body t in a planar view. The second alignment aligns a specific portion of the operating device with a specific component on the transport body t3. In other words, the second alignment moves the transport body t3 so that the specific portion of the operating device (operation position P) overlaps with the position of the specific component on the transport body t3 in a planar view. An example of two-stage alignment is shown in Figure 21. In this two-stage alignment, first, as the first alignment, the conveyance body t3 loaded with the container body 1b and the cap 1c is moved to align the work position P with the center position of the conveyance body t3 (see Figure 21(a)). Next, as the second alignment, the conveyance body t3 is moved to align the work position P with the position of the cap 1c on the conveyance body t3 (see Figure 21(b)). Such two-stage alignment makes it possible to more reliably target the cap 1c for the work, thereby further improving work accuracy. When performing the first alignment and the second alignment, the conveying body t3 is moved in a linear manner, a curved manner, a rotational manner, or a combination of these in an arbitrary direction in a plan view.

[0065] The first alignment and the second alignment may be performed by the transport control unit 54. Alternatively, the first alignment may be performed by the transport control unit 54, and the second alignment may be performed by an image recognition device provided in the working apparatus in cooperation with the transport control unit 54. The image recognition device includes an imaging device such as a camera and an image processing unit that performs image recognition processing. The image recognition device uses the imaging device to acquire a planar image of the transport body t3 for which the first alignment has been completed, and the image processing unit performs image recognition processing on the planar image. This acquires positional information of specific components on the transport body t3 from the planar image, and the transport control unit 54 moves the transport body t3 so as to align the positions of the components based on the positional information with a specific part of the working apparatus (work position P). In particular, with a transport body t3 having a holding unit, each component arranged in the holding unit is positioned at a fixed position, allowing the second alignment to be performed with higher accuracy.

[0066] Furthermore, the above-described manufacturing method may include a processing step in addition to the supplying step, the storing step, and the assembling step. The processing step is a step in which processing is performed on the components transported by the transport body t. The processing step is performed by a processing device (not shown). Examples of processing in the processing step include printing, attaching a label or other attachment, packaging, cutting, spraying, laser engraving, embossing, bending, and other plastic processing. For example, if the processing step is a printing step of printing on the surface of the container body 1b of the bottle container 1, a printing device that performs the printing step is added as a working device, and the working area of the printing device is set on the conveying surface 25. Then, a path that moves the conveying body t to the working area of the printing device is added to the movement path. For example, if the printing step is performed after the combining step, the movement paths C1 and C2 are changed as follows. Movement path C1: 21a → W1 → W2 → W4 → Printer work area → 21b Movement path C2: 21a → W1 → W3 → W4 → Printer work area → 21b

[0067] The completed bottle container 1 produced by the above-described manufacturing method is transported to a destination point (segment 21b) by a transport body t1. The destination point is the working area of a removal device (not shown in FIG. 8), which removes the completed product from the conveying surface 25 and packages it in a package such as a cardboard box. The removal device may be a composite device that combines a robot arm equipped with a robot hand that grasps the product with a known packaging device. Alternatively, instead of using a removal device, the completed product may be removed from the conveying surface 25 and packaged manually. In this embodiment, the movement start point (segment 21a) and the destination point (segment 21b) of the conveying body t are adjacent to each other in the Y direction on the conveying surface 25. When the packaging and supply of the components (container body 1b) are manually performed at the movement start point (segment 21a) and the destination point (segment 21b), it is preferable that the movement start point and the destination point are close to each other on the conveying surface 25. With this configuration, the packaging and supply of the components can be performed by the same person, thereby reducing the number of workers required.

[0068] The transport body t1, which has picked up the completed article (bottle container 1), moves to the movement start point based on a return movement command signal from the production control unit 50. After returning to the movement start point, the transport body t1 repeats movement along the movement paths C1 and C2 to manufacture the bottle container 1.

[0069] The manufacturing method of this embodiment can manufacture articles other than the bottle container 1 using the manufacturing apparatus 100 described above. In the following explanation, parts that differ from the embodiment described above will be mainly explained, and similar components will be given the same reference numerals and explanations will be omitted. For components that are not particularly explained, the explanation of the embodiment for manufacturing the bottle container 1 described above will be applied as appropriate.

[0070] The manufacturing method of this embodiment can manufacture a packaging container 2 that contains a liquid cosmetic such as a sunscreen cosmetic. FIG. 10 shows the packaging container 2. The packaging container 2 includes a container body 2b that contains the liquid cosmetic material, a cap 2c that is detachably attached to the container body 2b, a sphere 2a that is contained in the container body 2b together with the liquid cosmetic material, and a nozzle portion 2d that ejects the liquid cosmetic material from the container body 2b. The container body 2b has an internal storage space that contains the liquid cosmetic material, and a neck portion to which the nozzle portion 2d is attached is formed at its upper end. The cap 2c has an internal cylindrical nozzle housing portion, and a cap-side thread portion that can be threadedly engaged with a thread portion provided on the outer peripheral surface of the nozzle portion 2d is formed on the inner peripheral surface of the nozzle housing portion (not shown). When the cap 2c is attached to the container body 2b, with the nozzle portion 2d housed in the nozzle housing portion of the cap 2c, the nozzle housing portion and the nozzle portion 2d are threadedly engaged to close the opening of the nozzle portion 2d (not shown). The nozzle portion 2d is a cylindrical member having a flow path therein for discharging the liquid cosmetic material, and has a substantially conical tip.

[0071] The packaging container 2 can be manufactured by moving a conveying body t4 loaded with container bodies 1b along a moving path C3 (see FIG. 8). The moving path C3 includes, on the conveying surface 25, working areas corresponding to the first combining device W5, the filling device W6, and the second combining device W7, in this order from the starting point of the movement. FIG. 11 shows a schematic diagram of the work performed in these working areas. 11 includes a supplying process (not shown) in which the container body 2b is loaded onto a carrier t4, the sphere 2a is loaded onto a carrier t5, and the cap 2c and nozzle portion 2d are loaded onto a carrier t6. These supplying processes can be performed by a working device having the same configuration as the combination devices W5 and W7. After completing the supplying process, each of the carriers t4, t5, and t6 moves to the movement start point (segment 21a) and performs the transporting process and the working process.

[0072] The conveying process in the manufacturing method shown in Fig. 11 includes a conveying process of conveying the container body 2b by conveying body t4, a conveying process of conveying the sphere 2a by conveying body t5, and a conveying process of conveying the cap 2c and the nozzle portion 2d by conveying body t6. The working process in the manufacturing method shown in Fig. 11 includes a first combining process, a filling process, and a second combining process, in this order, based on the movement path C3 (see Figs. 11(a) to 11(c)). These processes produce a packaging container 2 containing a liquid cosmetic material (see Fig. 11(d)).

[0073] After the supply step, a transport step is performed in which the transport body t4 and the transport body t5 are moved from the movement start point (segment 21a) to the working area of the first combining device W5, and then the first combining step is performed. The first combining step is performed by the first combining device W5, and the robot hand 38 of the device W5 places the sphere 2a in the container body 2b (see FIG. 11(a)). In this step, the robot hand 38 grasps the sphere 2a transported by the transport body t5 and places the sphere 2a inside the container body 2b via the neck portion of the container body 2b. The sphere 2a is placed inside the container body 2b by releasing the grip of the robot hand 38 and dropping the sphere 2a. The point where the robot hand 38 drops the sphere 2a in a plan view is the working position of the first combining device W5.

[0074] After the first combining step, a transport step is performed in which the transport body t4 carrying the container body 2b containing the spheres 2a is moved to the working area of the filling device W6, and then a filling step is performed. The filling step is carried out by the filling device W5, and the liquid cosmetic material, which is the content to be supplied, is filled into the container body 2b through the filling nozzle 35 (see FIG. 11(b)).

[0075] After the filling step, the conveying step is performed in which the conveyed bodies t4 and t6 are moved to the working area of the second combining device W7, and then the second combining step is performed. The second assembling step is performed by a second assembling device W7, and the nozzle portion 2d and the cap 2c are attached to the container body 2b by a robot hand 38 of the device W7 (see FIG. 11(c)). In this step, the nozzle portion 2d and the cap 2c transported by the transport body t6 are grasped by the robot hand 38 and attached to the container body 2b.

[0076] More specifically, after the nozzle portion 2d is attached to the neck portion of the container body 2b, the cap 2c is attached to the container body 2b. This attachment is performed by screwing or fitting, and is performed by raising and lowering or rotating the robot hand 38 provided on the second combining device W7. That is, the combining device W7 selects and grasps the components 2c and 2d to be used in the attachment work of the second combining device W7 from the components 2c and 2d transported by the transport body t6. In this way, it is preferable that the working device selects the components to be used in the work of the working device from the components transported by the transport body t6 and uses those components for the work performed by the working device. This configuration can further reduce the manufacturing space (transport surface 25).

[0077] The selection of the component by the operation device can be performed by identifying the component on the transport body t by its coordinate position on the transport surface 25, or by installing a known image recognition technique in the operation device. The working device may select a component outside the transport surface 25. In this case, a component to be used for the work of the working device is selected from among components supplied from outside the movement path of the transport body t. Also, prior to the tool transport step, a component may be selected outside the transport surface 25, and the work tool may be supplied to the transport body t on the transport surface 25. The tool transport step will be described later.

[0078] In the manufacturing method of this embodiment, the second combining step is completed to produce a packaging container 2 containing spheres 2a and contents (liquid cosmetic material) therein (see FIG. 11(d)). The completed packaging container 2 is transported to the destination point (segment 21b) by transport body t4 and then removed from the conveying surface 25 by a removal device or the like.

[0079] In the conveying process shown in Figure 11, the sphere 2a and the container body 2b are conveyed by separate conveyors t4 and t5, respectively, while the nozzle portion 2d and the cap 2c are conveyed by a single conveyor t6. The former is a multiple-type conveying process, and the latter is a single-type conveying process. In other words, the conveying process shown in Figure 11 combines a single-type conveying process and a multiple-type conveying process.

[0080] In the conveying process of this embodiment, each of the components 2a, 2b, 2c, and 2d constituting the packaging container 2 may be conveyed by a separate conveyor t4, t9, t10, and t11 (see FIG. 12). In the conveying process shown in FIG. 12, the conveyors t4, t9, t10, and t11 conveying the container body 2b, the sphere 2a, the cap 2c, and the nozzle portion 2d, respectively, move to the working area of the combining device W7. In this case, it is preferable that the combining device W7 selects each of the sphere 2a, the nozzle portion 2d, and the cap 2c for use in the combining process. With this configuration, the work of the first combining process and the second combining process can be consolidated into the combining device W7.

[0081] In the conveying process, the conveyance bodies t4, t9, t10, and t11 preferably convey a component to a position where a specific position of the component overlaps with a work position P7 set within the work area of the work device W7, and then convey another component to the work position. That is, it is preferable that one conveyance body t conveys one component to work position P7, and then another conveyance body t conveys another component to the work position P7. This configuration will be described using the conveyance process shown in Figures 12 and 13 as an example. As described above, the packaging container 2 is assembled to the container body 2b in the first and second assembling processes, in this order: the sphere 2a, the nozzle portion 2d, and the cap 2c. In this second assembling process, for example, the conveyance body t10 conveys the cap 2c to the gripping position P7, and after the aforementioned alignment, the robot hand 38 of the assembling device W7 grips the cap 2c at the gripping position P7 (see Figure 13(a)). Once the cap 2c is grasped, the carrier t10 carrying the cap 2c moves out of the working area of the combining device W7. Then, the carrier t4 carries the container body 2b with the nozzle portion 2d attached to it to the grasping position P7. After the aforementioned alignment, the robot hand 38 attaches the grasped cap 2c to the container body 2b (see Figure 13(b)). This makes it easier to perform multiple combining steps for combining different components with a single combining device W7.

[0082] Furthermore, the manufacturing method of this embodiment may include a tool transport step in addition to the transport step and the working step. In the tool transport step, a work tool used for working with the working device and attached to the working device is transported to the working area together with the component by a transport body t, or the work tool alone is transported to the working area by a transport body t. The work tool is, for example, a part that may come into contact with the component when the working device performs work, and examples of the work tool include a robot hand 38, a capping head, a filling nozzle 35, a cutting tool (e.g., an end mill, a drill, a milling cutter), etc.

[0083] The manufacturing method shown in Figure 14 includes a tool transport step, whereby a transport body t4 transporting the container body 2b and a transport body t8 transporting the cap 2c, sphere 2a, nozzle portion 2d, and robot hand 38 move to the working area of a single combination device W7 (see Figure 14(a)), where the first and second combination steps are performed. In this case, the transport step and the tool transport step are performed simultaneously by the same transport body t8. In the combination device W7 shown in Figure 14(a), the robot hand 38 is not attached to the movable support part 37. When the carrier t8 moves into the working area of the combining device W7, the tip (end effector) of the movable support 37 descends toward the carrier t8, and the base end of the robot hand 38 is inserted into the insertion hole of the movable support 37 and attached (see FIG. 14(b)). Once the robot hand 38 is attached, the combining device W7 performs the first combining step and the second combining step (see FIG. 14(c)). By providing this tool transfer step, it is possible to change the work tool for each product manufactured, thereby further consolidating the work devices used in multi-product production. The tool transfer step is preferably applied to a manufacturing method using a work device equipped with a robot arm.

[0084] When the manufacturing method of this embodiment includes a tool transfer step, from the viewpoint of making it easier to attach the work tool to the work device, it is preferable that the work tool be attached to the work device via a tool changer. The tool changer is an attachment member located between the end effector and the work tool of the work device, and detachably attaches the work tool to the end effector. The tool changer may be equipped with a positioning mechanism that determines the attachment position of the work tool, or a magnetic attachment mechanism.

[0085] The manufacturing method of this embodiment can manufacture a bottle container 3 (hereinafter also referred to as "pump container 3") filled with a content and equipped with a pump dispenser 3c. This pump container 3 has the same configuration as the aforementioned bottle container 1, except that it is equipped with a pump dispenser 3c instead of a cap 1c. The pump container 3 can be manufactured by moving a conveyance body t carrying a container body 1b along a movement path C4 (FIG. 8). The movement path C4 includes, on the conveyance surface 25, working areas corresponding to the working devices W1, W8, and W9, in this order from the movement start point.

[0086] The method for manufacturing the pump container 3 in this embodiment includes a supplying step, a filling step, and an assembling step as work steps, similar to the method for manufacturing the bottle container 1. The work steps in this manufacturing method are performed in the same manner as the method for manufacturing the bottle container 1 described above, except that the liquid (content) filled into the container body 1b in the filling step is different, and that the pump dispenser 3c is attached to the container body 1b in the assembling step.

[0087] In the manufacturing method of the pump container 3 according to this embodiment, a carrier t11 shown in FIG. 15 is used in the transport step of transporting a pump dispenser 3c. In the carrier t11 shown in FIG. 15, a holder 13 for holding components includes a bottom surface 13a and upright holders 15, 16, and 17 standing upright from the bottom surface 13a. The upright holder 15 includes a holder plate 15b having an insertion hole through which a liquid supply pipe provided in the pump dispenser 3c is inserted, and a pair of rod-shaped support members 15a standing upright from the bottom surface 13a. The holder plate 15b is supported on the support members 15a, and the length between the holder plate 15b and the bottom surface 13a in the vertical direction Z is longer than the length of the liquid supply pipe. The insertion hole formed in the holder plate 15b has an inner diameter smaller than the outer diameter of a pump head that can be moved up and down in the pump dispenser 3c and larger than the outer diameter of the liquid supply pipe. As a result, the holder 13 holds the pump dispenser 3c with the liquid supply pipe inserted into the insertion hole and the pump head placed on the holder plate 15b (see FIG. 15).

[0088] The holding portion 13 has upright holding portions 16 and 17 that hold the flat components 4c and 5c. These upright holding portions 16 and 17 have the same configuration as the above-mentioned upright holding portion 15, except that, instead of insertion holes, holding plates 16b and 17b have mounting grooves on which the flat components 4c and 5c are placed. That is, the holding plates 16b and 17b are supported by a pair of support portions 16a and 16a, 17a and 17a in a state where they are spaced apart from the bottom surface portion 13a in the vertical direction Z. These upright holders 16, 17 place the components 4c, 5c in the mounting grooves of the holder discs 16b, 17b and hold the components 4c, 5c. From the viewpoint of making it easier to pick the components 4c, 5c from the holder discs 16b, 17b, it is preferable that the inner diameter of the mounting groove be larger than the outer diameter of the components 4c, 5c (inner diameter of the mounting groove > outer diameter of the components 4c, 5c). Regarding this size relationship, if the item is a synthetic resin product, the difference between the inner diameter of the mounting groove and the outer diameter of the components 4c, 5c is preferably 0.1 mm or more and 0.5 mm or less. Furthermore, if the item is a precision part, the difference between the inner diameter of the mounting groove and the outer diameter of the components 4c, 5c is preferably 0.01 mm or more and 0.05 mm or less.

[0089] The conveyance body t11 equipped with the holding portion 13 can hold the components at a distance from the bottom surface portion 13a, thereby facilitating operations such as picking of the components. The capping process (assembly process) including such a picking operation will be described with reference to Figures 16(a) to 16(d). The assembling process shown in Fig. 16 is performed by an assembling device W9 having a capping head 39 attached to an end effector. For the sake of convenience, only the upright holder 15 that holds the pump dispenser 3c is shown as the holder of the conveying body t11 shown in Fig. 16, and only the capping head 39 of the assembling device W9 is shown.

[0090] In the combining process shown in FIG. 16, first, the pump dispenser 3c is transported by the carrier t11 to the working position of the combining device W9 (capping head 39). In this transport process, the pump head of the pump dispenser 3c is aligned with the working position of the combining device W9 (capping head 39) as described above. Then, the capping head 39 is lowered toward the carrier t11, and the pump head is gripped by the capping head 39 (see FIG. 16(a)). Next, the capping head 39 is raised, and the liquid supply pipe of the pump dispenser 3c is pulled out of the insertion hole of the holding plate 15b (see FIG. 16(b)). Next, the carrier t11, holding the container body 1b by the upright holding part 15, moves out of the working area of the combining device W9, and then the container body 1b is transported to the working position of the combining device W9 by the carrier t1. This container body 1b is filled with the contents (not shown). When the container body 1b is transported to the working position of the combining device W9, the aforementioned alignment (alignment of the capping head 39 with the container body 1b) is performed. Next, the capping head 39 holding the pump dispenser 3c descends at the working position and inserts the pump dispenser 3c into the opening of the neck of the container body 1b (see Figure 16(c)). This capping head 39 descends until the height of the threaded portion located on the inner peripheral surface of the base end of the pump head and the height of the threaded portion on the outer peripheral surface of the neck of the container body 1b are approximately equal. Next, the capping head 39 rotates around its central axis, threading the threaded portions of the pump head and the neck together and capping (attaching) the pump dispenser 3c to the container body 1b. In this way, in the assembling step shown in FIG. 16, by aligning the pump head and the container body 1b at the working position, the capping head 39 can be raised and lowered, making it easier to perform the picking and capping operations.

[0091] In the manufacturing method of the present embodiment described above, in the conveying process, each conveying body t conveys each type of article along a different movement path. In such a conveying process, by varying the working areas corresponding to the working devices W1 to W9 to which the conveying body t moves and / or the movement order of the working areas, it is possible to set up a manufacturing line for multiple types of articles on the conveying surface 25 (see FIG. 8). This makes it possible to simultaneously produce multiple types of articles 1, 2, and 3, each having one or more different components. In other words, according to the manufacturing method of the present embodiment, it is possible to realize high-mix, variable-volume production that can efficiently respond to changes in the types of articles to be manufactured and fluctuations in the production volume of the articles to be manufactured. On the other hand, when trying to produce multiple types of products using a conventional linear production line, the production line must be extended and the operation times of the operation devices installed on the production line must be synchronized. In this case, the control of each operation device becomes complicated and the operation process of the operation device with the longest operation time must be synchronized with the other operation devices, which is likely to result in a decrease in production efficiency.

[0092] Next, the flow of the manufacturing method of the above-mentioned embodiment will be described with reference to Figures 17 and 18. The flow shown in Figures 17 and 18 relates to a manufacturing method of a bottle container 1 containing a content. 17, in the transport step, the container body 1b and the cap 1c are transported by different transport bodies t1 and t2, respectively, in a multiple-type transport step. First, the manufacturing apparatus 100 is started up, and production of the bottle container 1 by the manufacturing apparatus 100 begins (step S1). In the following step S2, the transport control unit 54 issues a movement command to the transport stage 20 to move the transported object t1 to the working position P1. As a result, the transported object t1 moves to the working position P1. In the following step S3, it is determined whether the transported object t1 has arrived at the working position P1. The determination in step S3 is made based on whether the actual coordinate position of the transported object t1 matches the working position P1. This step S3 is performed by the transport control unit 54. If the actual coordinate position of the transported object t1 does not match the working position P1, step S3 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less.

[0093] If it is determined in step S3 that the transport body t1 has arrived at the work position P1, the process proceeds to step S4. In step S4, the transport control unit 54 issues a work start command to the supply device W1 to start the supply process. In the following step S5, the transport control unit 54 determines whether the work (supply process) by the supply device W1 has been completed. The determination in step S5 is made based on the presence or absence of a work completion signal sent from the supply device W1. If the work completion signal is not received in step S5, step S5 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less. If the transport control unit 54 receives a work completion signal from the supply device W1 in step S5, the process proceeds to step S6.

[0094] In step S6, the transport control unit 54 issues a movement command to the transport stage 20 to move the transported body t1 to the working position P2. As a result, the transported body t1 moves to the working position P2. In the following step S7, it is determined whether the transported body t1 has arrived at the working position P2. The determination in step S7 is made, similar to step S3, by determining whether the actual coordinate position of the transported body t1 matches the working position P2. This step S7 is performed by the transport control unit 54. If the actual coordinate position of the transported body t1 does not match the working position P2, step S7 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less.

[0095] If it is determined in step S7 that the transport body t1 has arrived at the work position P2, the process proceeds to step S8. In step S8, the transport control unit 54 issues a work start command to the filling device W2 to start the filling process. In the following step S9, the transport control unit 54 determines whether the work (filling process) by the filling device W2 has been completed. The determination in step S9 is made based on whether or not a work completion signal is sent from the filling device W2. If the work completion signal is not received in step S9, step S9 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less. If the transport control unit 54 receives a work completion signal from the filling device W2 in step S9, the process proceeds to step S10.

[0096] In step S10, the transfer control unit 54 issues a movement command to move the transfer body t1, which transfers the container body 1b, and the transfer body t2, which transfers the cap 1c, to the work position P4. As a result, the transfer body t1 moves to the work position P4b, and the transfer body t2 moves to the work position P4a. In the following step S11, the transfer control unit 54 determines whether the transfer body t1 has arrived at the work position P4b and whether the transfer body t2 has arrived at the work position P4a. If either or both of the actual coordinate position of the transfer body t1 does not match the work position P4b and the actual coordinate position of the transfer body t2 does not match the work position P4a, step S11 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less.

[0097] If it is determined in step S11 that the conveyed body t1 has arrived at the work position P4b and the conveyed body t2 has arrived at the work position P4a, the process proceeds to step S12. In step S12, the conveyance control unit 54 issues a work start command to the combination device W4 to start the combining process. In the following step S13, the conveyance control unit 54 determines whether the work (combining process) by the combination device W4 has been completed. The determination in step S13 is made based on the presence or absence of a work completion signal sent from the combination device W4. If the work completion signal is not received in step S13, step S13 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less. If the conveyance control unit 54 receives a work completion signal from the combination device W4 in step S13, the process proceeds to step S14. At this point, the bottle container 1 is completed.

[0098] In step S14, the transfer control unit 54 issues a return movement command for the transfer body t2 to the transfer stage 20. As a result, the transfer body t2 returns from the work position P4a to the movement start point of the transfer body t2. In the following step S15, the transfer control unit 54 issues a target point movement command for the transfer body t1 to the transfer stage 20. As a result, the transfer body t1 moves from the work position P4b to the target point (segment 21b) of the transfer body t1, and transfers the bottle container 1 to the target point. In the following step S16, the transport control unit 54 determines whether the transported body t1 has arrived at the target point. The determination in step S16 is made based on whether the actual coordinate position of the transported body t1 matches the target point. If the actual coordinate position of the transported body t1 does not match the target point, step S16 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less.

[0099] If it is determined in step S16 that the conveyed body t1 has arrived at the target location, the process proceeds to step S17. In step S17, it is determined whether the bottle container 1 has been removed from the conveyed body t1 and the load has been released. This determination can be made based on the presence or absence of a signal from the container removal device that the bottle container 1 has been removed from the conveying surface 25, a decrease in the weight of the conveyed body t1 measured by a load cell, or a change in the current value for maintaining the levitation amount of the conveyed body t1. Furthermore, the determination may be made by object recognition using an external processing device such as various sensors or an imaging device. If it is determined that the conveyed body t1 has not been released, step S17 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less.

[0100] The various sensors mentioned above can be any sensor capable of detecting the release of the bottle container 1 without any particular restrictions. For example, an optical sensor or fiber sensor capable of detecting the presence or absence of the bottle container 1 on the conveying body t1 can be used. The removal device may also be equipped with sensors according to its operation mode. For example, if the removal device removes the bottle container 1 by vacuum suction, a pressure sensor can detect the removal of the bottle container 1 (the release of the load). If the removal device removes the bottle container 1 by an electric gripper, a force sensor can detect the release of the load. Furthermore, if the removal device removes the bottle container 1 by a pneumatic gripper, a proximity sensor can detect the release of the load.

[0101] If it is determined in step S17 that the load of the conveyed body t1 has been released, the process proceeds to step S18. In step S18, it is determined whether or not the manufacture (production) of the bottle containers 1 by the manufacturing apparatus 100 will be terminated, based on the conveyance information from the conveyance information acquisition unit 52. More specifically, this is determined based on whether or not the number of bottle containers 1 manufactured has reached the set planned production number. If it is determined in step S18 that the number of bottle containers 1 manufactured is less than the set planned production number, the process proceeds to step S19. In step S19, a return movement command for the conveyed body t1 is transmitted to the conveyance stage 20. This causes the conveyed body t1 to return from the target point (segment 21b) to the movement start point (segment 21a). After step S19, the process returns to step S2, and steps S2 to S18 are repeated. In step S18, if it is determined that the number of manufactured bottle containers 1 has reached the set planned production number, the manufacturing (production) of the bottle containers 1 by the manufacturing apparatus 100 is terminated.

[0102] In the flow shown in Fig. 18, in the transport step, the container body 1b and the cap 1c are transported by the same transport body t3 (see Fig. 4). That is, a single-type transport step is performed. Steps S1 to S9 in the flow shown in Fig. 18 are the same as those in the flow shown in Fig. 17, except that in step S5, the container body 1b and the cap 1c are loaded onto the conveying body t3. In the flow shown in Fig. 18, explanations of steps S1 to S9 that are common to the flow shown in Fig. 17 will be omitted. In step S9, if the transport control unit 54 receives a work completion signal from the filling device W2, the process proceeds to step S20. In step S20, the transport control unit 54 issues a movement command to move the transport body t3, which is transporting the container body 1b and the cap 1c, to the work position P4. This causes the transport body t3 to move to the work position P4. In the following step S21, the transport control unit 54 determines whether the transport body t3 has arrived at the work position P4. If the actual coordinate position of the transport body t3 does not match the work position P4, step S21 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less.

[0103] If it is determined in step S21 that the conveyed body t3 has arrived at the work position P4, the process proceeds to step S22. In step S22, the transport control unit 54 issues a work start command to the combination device W4 to start the combining process. In the following step S23, the transport control unit 54 determines whether the work (combining process) by the combination device W4 has been completed. The determination in step S23 is made based on the presence or absence of a work completion signal sent from the combination device W4. If a work completion signal is not received in step S23, step S23 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less. If the transport control unit 54 receives a work completion signal from the combination device W4 in step S23, the process proceeds to step S24. At this point, the bottle container 1 is completed. In FIG. 18, steps S24 to S28 are the same as steps S15 to S19.

[0104] The manufacturing method of this embodiment may also include a supply determination step for determining whether the plurality of components 5a, 5b, and 5c held by the composite holding unit 110 have been properly supplied to the conveyance body t equipped with the composite holding unit 110. As shown in Fig. 19, the composite holding unit 110 includes a plurality of holding units 111, 112, and 113 that respectively hold the plurality of components 5a, 5b, and 5c. More specifically, each of the holding units 111, 112, and 113 has a mounting groove formed therein that corresponds to the components 5a, 5b, and 5c.

[0105] The supply determination process includes a composite supply process, a component verification process, a conveyance process, a corrective conveyance process, and a supply correction process (see FIG. 20). In the composite supply step, a carrier t (not shown in FIG. 20) having an empty composite holder 110 is moved to a supply station 120, and components 5a, 5b, and 5c are supplied to the composite holder 110. The composite supply step is carried out by the supply device in the form of the robot arm described above. The component matching process matches the components 5a, 5b, and 5c supplied to the composite holding unit 110. In the component matching process, an imaging device such as a camera acquires a planar image of the composite holding unit 110, and performs image recognition processing using image processing on the planar image to determine whether the components 5a, 5b, and 5c have been supplied correctly. In the conveying step, the conveyed object t, which has been determined in the component checking step as having the components 5a, 5b, and 5c correctly supplied to the composite holder 110, is conveyed to the working device W10. In the correction and transport step, the transport object t, which has been determined in the component verification step as having the components 5a, 5b, and 5c not correctly supplied to the composite holding unit 110, is transported to the supply and correction unit 122. The transport process and the corrective transport process are performed by the manufacturing control unit 50. In the supply correction step, based on the information determined in the component matching step, the components 5a, 5b, and 5c are correctly supplied by the supply correction unit 122. The supply correction unit 122 is implemented by the supply device in the form of the robot arm described above.

[0106] Although the present invention has been described above based on the preferred embodiments, the present invention is not limited to the above-described embodiments. For example, the manufacturing apparatus 100 of the above-described embodiment includes a conveying device having a conveying stage 20 and a plurality of conveying bodies t that move while floating from the conveying stage 20, but is not limited to this configuration. For example, the conveying device may include a conveying surface 25 set on the floor and conveying bodies that move freely on the conveying surface 25 by electric vehicles. Although the above-described conveying process involves the alignment, it is also possible to dispense with this alignment. In this case, the end effector of the working device may be moved by an image recognition function provided in the working device, and aligned with the components on the conveyance body t within the working area. In the manufacturing method of the above-described embodiment, different types of articles 1, 2, and 3 are manufactured for each of the movement paths C1 to C4 of the conveyor t, but the same type of articles may be manufactured for each of the movement paths C1 to C4. In this case, the same type of articles can be mass-produced efficiently. [Explanation of symbols]

[0107] 1 Bottle container (item) 1b Container body 1c Cap 2 Packaging containers (articles) 2a sphere 2b Container body 2c Cap 2d Nozzle part 3 Pump container (item) 3c Pump Dispenser 10,12 Holding part 11b Cylinder part 13 Holding part 15,16,17 Upright holding part 15a,16a,17a Support part 15b,16b,17b Holding board 20 Transfer stage 21, 21a, 21b segments 22 Segment body 23 Magnetic force generating unit 23a, 23b, 23c, 23d Coils 25 Conveying surface 31 Device body 32 Work holding part 33a, 33b, 33c, 33d Magnet array 34 Nozzle movable support part (arm) 35 Filling Nozzle 37 Hand movable support part (arm) 38 Robot Hand 39 Capping Head 50 Manufacturing Control Department 51 Communication Module 52 Transportation information acquisition unit 53 Route generation unit 54 Transport control unit 100 Manufacturing equipment 110 Composite holding part 120 Supply Station C1, C2, C3, C4 movement route t,t1,t2,t3,t4,t5,t6,t8,t9,t10,t11 Transport body W1 supply device W2,W3,W6,W8 Filling device W4, W5, W7, W9 combination device

Claims

1. A method for manufacturing an article using a conveying device including a conveying surface and a plurality of conveying bodies that freely move on the conveying surface, the method comprising: The article includes a plurality of components; the conveying surface has a working area where a work device performs work; a transport step in which one or more of the transport bodies transport the component to the work area; a working step of performing work on the conveyance body in the working area for one or more of the components conveyed by the conveyance step, The work process comprises: a combining step for combining the components carried by a single carrier or separate carriers; and The method includes either or both of a storing step of storing a supply content that is supplied without being transported by the transport body inside the component transported by the transport body, and a processing step of processing the component transported by the transport body, the conveying step performs alignment of a specific portion of the working device with a specific position of the component by moving the conveying body; The method for manufacturing an article, wherein the working step is carried out after the alignment.

2. In the transporting step, the one or more transport bodies transport the components to the working area along different travel paths depending on the type of the item; The method for manufacturing an article according to claim 1, wherein a plurality of types of articles are manufactured simultaneously.

3. A method for manufacturing an article as described in claim 1 or 2, wherein the conveying process includes a first alignment that aligns a specific portion of the working device with a specific position of the conveying body, and then a second alignment that aligns the specific portion of the working device with the component on the conveying body.

4. The method for manufacturing an article according to claim 1 or 2, wherein the conveying step comprises moving the conveying bodies on the conveying surface that has a planar extent along a movement path set for each conveying body.

5. The method for manufacturing an article according to claim 1 or 2, wherein a plurality of types of the article are manufactured, each type having one or more different components.

6. The carrier is identifiable, a position information acquiring step of acquiring position information of each of the conveyance bodies on the conveyance surface; a transportation information acquisition step including a component information acquisition step of associating identification information of each of the transport bodies with information on the components transported by the transport bodies; The method for manufacturing an article according to claim 1 or 2, wherein the transport information acquisition step associates and records identification information of the transport body, location information corresponding to the transport body, and information on the components transported by the transport body.

7. The method for manufacturing an article according to claim 6, wherein the conveying process includes either or both of a single-type conveying process in which a single conveying body conveys a plurality of the components, and a multiple-type conveying process in which a plurality of different conveying bodies convey a plurality of the components.

8. A method for manufacturing an article as described in Claim 7, wherein the conveying process comprises a combination of the single-type conveying process and the multiple-type conveying process.

9. the working step includes a combining step of combining the plurality of components transported by the separate transport bodies; The method for manufacturing an article according to claim 1 or 2, wherein in the combining step, a plurality of work positions corresponding to the separate transport bodies are set in the work area corresponding to a single work device.

10. 3. The method for manufacturing an article according to claim 1, wherein in the transporting step, one of the transporting bodies transports one of the components to a work position set within the work area, and then another of the transporting bodies transports another of the components to the work position.

11. 3. The method for manufacturing an article according to claim 1, wherein in the work process, the work device selects a component to be used for the work of the work device from among the components transported by the transport body or the components supplied from outside the transport path of the transport body, and uses the component for the work performed by the work device.

12. The carrier has a carrier body and a holding portion provided on an upper surface of the carrier body and holding the component, The method for manufacturing an article according to claim 1 or 2, wherein the positions of the holding portions on the upper surface of the conveying body are the same among the conveying bodies having the same type of holding portions.

13. the transport device includes a transport stage that forms the transport surface; The carrier has a magnet, 3. The method for manufacturing an article according to claim 1, wherein the conveying stage has a magnetic force generating unit that generates a magnetic force and, through interaction with the magnet provided on the conveying body, causes the conveying body to levitate from the conveying stage and move on the conveying stage.

Images