Work delivery device and work delivery method

Abstract

A feeder transfer part 67 can execute: an operation for transferring a robot 5 stored in a front delivery part 64 from a worker H, from the front delivery part 64 to a feeder storage part 66; an operation for transferring a feeder 3 scheduled to be delivered to the worker H, from the feeder storage part 66 to the front delivery part 64; an operation for transferring the feeder 3 stored in a rear delivery part 65 from the robot 5, from the rear delivery part 65 to the feeder storage part 66; and an operation for transferring the feeder 3 scheduled to be delivered to the robot 5, from the feeder storage part 66 to the rear delivery part 65.

Description

Workpiece transfer device and workpiece transfer method

[0001] The present invention relates to a technique that enables efficient transfer of work between multiple workers.

[0002] Patent Document 1 describes a supply shelf that temporarily stores component containers that contain components used in a component mounter. An operator can supply component containers to a storage section of the supply shelf or retrieve component containers from the storage section of the supply shelf. In addition, a robot transports the component containers temporarily stored on the supply shelf to the component mounter.

[0003] Japanese Patent Application Laid-Open No. 2023-118458

[0004] In such a work site where multiple workers (people or robots) perform work, providing a workpiece transfer device such as the supply shelf of Patent Document 1 allows each worker to perform their work efficiently. In other words, because the workpiece transfer device functions as a buffer, one worker can perform work regardless of the work status of the other workers. However, while a variety of tasks are required of each worker at the work site, it has been difficult to fully meet such needs.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to enable each worker to accurately perform the work required at a work site where work is handed over between multiple workers.

[0006] The workpiece transfer device of the present invention comprises a first transfer unit that transfers workpieces to and from a first work subject which is a person or a robot, a second transfer unit that transfers workpieces to and from a second work subject which is a person or a robot, a work storage unit that stores workpieces, and a work transfer unit that is capable of transferring workpieces between the first transfer unit and the work storage unit, and between the second transfer unit and the work storage unit, and the work transfer unit is capable of performing a first in-stock response operation of transferring workpieces received by the first work subject from the first transfer unit to the work storage unit, a first out-stock response operation of transferring workpieces to be shipped to the first work subject from the work storage unit to the first transfer unit, a second in-stock response operation of transferring workpieces received by the second work subject from the second transfer unit to the work storage unit, and a second out-stock response operation of transferring workpieces to be shipped to the second work subject from the work storage unit to the second transfer unit.

[0007] The workpiece transfer method according to the present invention includes a step of transferring a workpiece between a first work subject, which is a person or a robot, and a first transfer section; a step of transferring a workpiece between a second work subject, which is a person or a robot, and the second transfer section; a step of a workpiece transfer section transferring the workpiece between a work storage section that stores the workpiece and the first transfer section; and a step of a workpiece transfer section transferring the workpiece between the work storage section and the second transfer section, wherein the workpiece transfer section is capable of performing a first inbound response operation of transferring workpieces received by the first work subject from the first transfer section to the workpiece storage section, a first outbound response operation of transferring workpieces to be shipped to the first work subject from the workpiece storage section to the first transfer section, a second inbound response operation of transferring workpieces received by the second work subject from the second transfer section to the workpiece storage section, and a second outbound response operation of transferring workpieces to be shipped to the second work subject from the workpiece storage section to the second transfer section.

[0008] In the present invention (workpiece delivery device and workpiece delivery method) configured as described above, a workpiece storage unit that stores workpieces is provided. Therefore, the workpiece storage unit functions as a buffer, allowing the first and second work subjects to perform their respective tasks efficiently. Also, a workpiece transfer unit is provided that transfers workpieces between the workpiece storage unit and a first delivery unit that delivers workpieces to and from the first work subject, and between the workpiece storage unit and a second delivery unit that delivers workpieces to and from the second work subject. Moreover, this work transfer unit is capable of executing a first inbound response operation of transferring work received by a first work entity into the first delivery unit from the first delivery unit to the work storage unit, a first outbound response operation of transferring work to be delivered to the first work entity from the work storage unit to the first delivery unit, a second inbound response operation of transferring work received by a second work entity into the second delivery unit from the second delivery unit to the work storage unit, and a second outbound response operation of transferring work to be delivered to the second work entity from the work storage unit to the second delivery unit. In other words, the receiving of work by the first work entity can be handled by the first inbound response operation, the outbound of work by the first work entity can be handled by the first outbound response operation, the receiving of work by the second work entity can be handled by the second inbound response operation, and the outbound of work by the second work entity can be handled by the second outbound response operation. As a result, each worker can accurately perform the work required at a work site where work is handed over between multiple workers.

[0009] The workpiece transfer device may also be configured to further include a housing that accommodates the first transfer unit, the second transfer unit, the workpiece storage unit, and the workpiece transfer unit. In this case, the housing may have a first transfer window and a second transfer window that open at different locations, and the workpiece transfer device may be configured so that the transfer of the workpiece between the first work subject and the first transfer unit occurs via the first transfer window, and the transfer of the workpiece between the second work subject and the second transfer unit occurs via the second transfer window. In this way, by providing a first transfer window for the first work subject and a second transfer window for the second work subject, the flow lines of the first work subject and the second work subject can be separated, allowing each work subject to perform their work efficiently.

[0010] The workpiece transfer device may also be configured such that the housing has a first wall and a second wall spaced apart in the depth direction, the first transfer section, the second transfer section, the workpiece storage section, and the workpiece transfer section are disposed between the first wall and the second wall in the depth direction, the first transfer window opens at the first wall, and the second transfer window opens at the second wall. By providing the first transfer window and the second transfer window on opposite sides of the housing in this way, the traffic lines of the first worker and the second worker can be reliably separated, allowing each worker to perform their work more efficiently.

[0011] The first transfer section has a first workpiece holding section and a first drive section that moves the first workpiece holding section in the depth direction, the first wall section is located on one side of the second wall section in the depth direction, the second wall section is located on the other side opposite to the one side of the first wall section in the depth direction, the first workpiece holding section accepts insertion and removal of a workpiece from one side but does not accept insertion and removal of a workpiece from the other side, the first drive section moves the first workpiece holding section between a transfer position adjacent to the first transfer window from the other side and a transfer position on the other side of the transfer position, and the workpiece transfer section is configured to move between the transfer position and The workpiece receiving / transferring device may be configured so that a first receiving corresponding operation and a first unloading corresponding operation are performed in a transfer area provided between the first receiving / transferring position and the first workpiece holding unit, the first worker inserting / removing a workpiece from one side of the first workpiece holding unit stopped at the transfer position through a first transfer window, and the workpiece transfer unit faces the first workpiece holding unit stopped at the transfer position from one side in the first receiving corresponding operation to remove the workpiece from the first workpiece holding unit, and faces the first workpiece holding unit stopped at the transfer position from one side in the first unloading corresponding operation to insert the workpiece into the first workpiece holding unit. With this configuration, the first worker and the workpiece transfer unit can each appropriately insert / remove a workpiece from the first workpiece holding unit, which only accepts insertion / removal of a workpiece from one side in the depth direction.

[0012] The workpiece transfer device may be configured so that the housing has a first door that opens and closes the first transfer window. In this configuration, for example, the first door can prevent foreign matter from entering the housing through the first transfer window.

[0013] The workpiece transfer device may further include a locking unit that locks the first door, and the locking unit unlocks the first door when the first workpiece holding unit stops at the transfer position and locks the first door when the first workpiece holding unit does not stop at the transfer position. With this configuration, the first door can be unlocked only when a workpiece is inserted into or removed from the first workpiece holding unit. This prevents the first door from being opened unnecessarily.

[0014] The workpiece transfer device may be configured to move from one side to a position facing the first workpiece holding unit in response to the first workpiece holding unit stopping at the transfer position. In this configuration, interference between the workpiece transfer unit and the first workpiece holding unit can be prevented.

[0015] The second transfer section has a second workpiece holding section adjacent to the second transfer window from one side on the other side of the transfer area in the depth direction, and a second drive section that rotates the second workpiece holding section in the horizontal direction, the second workpiece holding section having an insertion / removal side end and a non-insertion / removal side end opposite to the insertion / removal side end, and accepts insertion and removal of a workpiece from the insertion / removal side end and does not accept insertion and removal of a workpiece from the non-insertion / removal side end, and the second drive section rotates between a transfer angle at which the insertion / removal side end faces one side and a transfer angle at which the insertion / removal side end faces the other side. The workpiece transfer device may be configured so that the second workpiece holding unit is rotated, the second worker inserts and removes a workpiece from the other side of the second workpiece holding unit stopped at the transfer angle through the second transfer window, and the workpiece transfer unit faces the second workpiece holding unit stopped at the transfer angle from one side in the second loading corresponding operation to remove the workpiece from the second workpiece holding unit, and faces the second workpiece holding unit stopped at the transfer angle from one side in the second retrieval corresponding operation to insert the workpiece into the second workpiece holding unit. With this configuration, the second worker and the workpiece transfer unit can each appropriately transfer a workpiece to and from the second workpiece holding unit that only accepts insertion and removal of a workpiece from the insertion / removal side end.

[0016] The workpiece transfer device may be configured so that the second workpiece holding unit is shifted in the width direction perpendicular to the depth direction from the movement path of the first workpiece holding unit that moves between the delivery position and the transfer position. In this configuration, interference between the first workpiece holding unit and the second workpiece holding unit can be prevented.

[0017] The first wall portion is located on one side of the second wall portion in the depth direction, and the second wall portion is located on the other side opposite to the one side of the first wall portion in the depth direction. The second delivery portion has a second work holding portion adjacent to the second delivery window from one side, and a second drive portion that rotates the second work holding portion in the horizontal direction. The work transfer portion performs a second loading corresponding operation and a second retrieval corresponding operation in a transfer area provided on one side of the second work holding portion in the depth direction. The second work holding portion has an insertion / removal side end and a non-insertion / removal side end opposite to the insertion / removal side end, and receives insertion and removal of a work from the insertion / removal side end and inserts and removes a work from the non-insertion / removal side end. The workpiece transfer device may be configured so that the second workpiece holding unit does not accept insertion or removal of a workpiece from the second workpiece holding unit, the second drive unit rotates the second workpiece holding unit between a transfer angle at which the insertion / removal end faces one side and a delivery angle at which the insertion / removal end faces the other side, the second work entity inserts or removes a workpiece from the second workpiece holding unit stopped at the delivery angle from the other side through the second delivery window, and the work transfer unit faces the second workpiece holding unit stopped at the transfer angle from one side in the second loading corresponding operation to remove the workpiece from the second workpiece holding unit, and faces the second workpiece holding unit stopped at the transfer angle from one side in the second retrieval corresponding operation to insert the workpiece into the second workpiece holding unit. With this configuration, the second work entity and the work transfer unit can each appropriately transfer a workpiece to or from the second workpiece holding unit that only accepts insertion or removal of a workpiece from the insertion / removal end.

[0018] The workpiece transfer device may be configured to move from one side to a position facing the second workpiece holding unit in response to the second workpiece holding unit stopping at the transfer angle. In this configuration, interference between the workpiece transfer unit and the second workpiece holding unit can be prevented.

[0019] The workpiece transfer device may also be configured to have a second door that opens and closes the second transfer window. In such a configuration, for example, the second door can prevent foreign matter from entering the housing through the second transfer window.

[0020] The workpiece transfer device may further include a communication unit that communicates with an external server, a detection unit that outputs a detection signal when it detects that the second work subject is approaching the second door, and a door control unit that controls the opening and closing of the second door based on a command received by the communication unit from the external server, wherein the second work subject is a robot, and the external server transmits an open command to the communication unit requesting that the second door be opened in response to a request from the robot, and the door control unit opens the second door when the communication unit receives the open command and the detection unit outputs the detection signal. With this configuration, the second door can be opened only when the second work subject inserts or removes a workpiece. This prevents the second door from being opened unnecessarily.

[0021] The workpiece transfer device may be configured so that the housing has an access opening for a person to enter the housing and an access door for opening and closing the access opening. In this configuration, a person can enter the housing to perform maintenance.

[0022] The workpiece transfer device may be configured so that the access opening is provided in the first wall portion. In this configuration, the first transfer window is used for the work of the person who is the first work subject, thereby limiting the location where the person can access to the first wall portion.

[0023] The workpiece transfer device may further include an operation control unit that controls the operations of the first transfer unit, the second transfer unit, and the workpiece storage unit, and the operation control unit prohibits the operations of the first transfer unit, the second transfer unit, and the workpiece storage unit when the access door is opened. With this configuration, maintenance work can be performed smoothly.

[0024] The workpiece transfer device may be configured such that the workpiece storage unit is disposed above the first and second transfer units and overlaps at least one of the first and second transfer units in a vertical plan view. In this configuration, the workpiece transfer device can be configured compactly in the depth direction.

[0025] According to the present invention, it becomes possible for each worker to accurately perform the work required at a work site where workpieces are handed over between a plurality of workers.

[0026] 3A is a diagram schematically showing an example of a component mounting system equipped with a feeder delivery device that is an example of a workpiece delivery device according to the present invention. FIG. 3B is a partial plan view schematically showing an example of a component mounter. FIG. 3C is a perspective view showing the external configuration of an example of a feeder delivery device. FIG. 3D is a perspective view showing how the feeder delivery device of FIG. 3A is used by an operator and a robot. FIG. 3E is a perspective view showing the internal configuration of the feeder delivery device of FIG. 1. FIG. 3F is a perspective view showing the configuration of a feeder magazine. FIG. 3G is a plan view showing the configuration of a feeder magazine. FIG. 3H is a front view showing the configuration of a feeder magazine. FIG. 3I is a side view showing the configuration of a feeder magazine. FIG. 3I is a perspective view showing the configuration of a linear drive mechanism that linearly drives a front magazine. FIG. 3I is a perspective view showing the configuration of a rotation drive mechanism that rotationally drives a rear magazine. FIG. 3I is a perspective view showing the configuration of a feeder transfer unit. FIG. 3I is a perspective view showing the configuration of a feeder transfer unit. FIG. 3I is a front view showing the configuration of a feeder transfer unit. FIG. 3I is a side view showing the configuration of a transfer unit. 1 is a side view showing the configuration of a loading and unloading unit; 2 is a plan view showing the configuration of a loading and unloading unit; 3 is a front view showing the configuration of a loading and unloading unit; 4 is a side view showing the configuration and operation of a loading and unloading arm; 5 is a side view showing the configuration and operation of a loading and unloading arm; 6 is a plan view showing the possible states of a front magazine and a rear magazine; 7 is a block diagram showing an example of an electrical configuration of a feeder delivery device; 8 is a flowchart showing an example of a human entry response process executed by a feeder delivery device; 9 is a flowchart showing an example of a human exit response process executed by a feeder delivery device; 10 is a flowchart showing an example of a robot entry response process executed by a feeder delivery device; 11 is a flowchart showing an example of a robot exit response process executed by a feeder delivery device; 12 is a perspective view showing a schematic relationship between a robot and a guide unit that guides the robot; 13 is a diagram showing a schematic configuration of a guide unit; 14 is a block diagram showing a modified example of an electrical configuration of a feeder delivery device;

[0027] FIG. 1 is a schematic diagram illustrating an example of a component mounting system equipped with a feeder delivery device, which is an example of a workpiece delivery device according to the present invention. The component mounting system 1 is equipped with a component mounting line 10. The component mounting line 10 includes multiple (three) component mounters 2 arranged in series, and produces boards by transporting boards to the multiple component mounters 2 in sequence, and mounting components on the boards using each component mounter 2. As will be described below, the component mounters 2 supply components using feeders. Meanwhile, the component mounting system 1 is equipped with a feeder storage 4 for storing feeders. The delivery of feeders between the component mounters 2 and the feeder storage 4 is performed through the cooperation of an operator H and a robot 5.

[0028] In particular, the component mounting system 1 is equipped with a feeder transfer device 6 that mediates the transfer of feeders between the component mounters 2 and the feeder storage 4. An operator H places a feeder taken out of the feeder storage 4 into the feeder transfer device 6. A robot 5 mounts the feeder taken out from the feeder transfer device 6 onto the component mounter 2. As a result, the feeder taken out from the feeder storage 4 is mounted onto the component mounter 2. The robot 5 also places the feeder removed from the component mounter 2 into the feeder transfer device 6. An operator H stores the feeder taken out from the feeder transfer device 6 into the feeder storage 4. As a result, the feeder removed from the component mounter 2 is stored in the feeder storage 4.

[0029] Furthermore, the component mounting system 1 includes a server computer 100 that performs overall management of the component mounting system 1. The server computer 100 wirelessly transmits and receives information to and from each component mounter 2, feeder storage 4, robot 5, and feeder transfer device 6. Furthermore, the server computer 100 wirelessly transmits and receives information to and from a terminal device carried by an operator H.

[0030] FIG. 2 is a partial plan view schematically illustrating an example of a component mounter. FIG. 2 illustrates an X direction, which is a horizontal direction; a Y direction, which is a horizontal direction perpendicular to the X direction; and a Z direction, which is a vertical direction. The component mounter 2 includes a board transport unit 21 that transports a board B in the X direction. The board transport unit 21 has a pair of conveyors 211 arranged in parallel in the X direction, and transports the board B in the X direction (board transport direction) using the pair of conveyors 211. The board transport unit 21 transports the board B from the upstream side in the X direction and holds the board B at a predetermined board holding position (the position of the board B in FIG. 2 ). The board transport unit 21 also transports the board B, on which components E have been mounted at the board holding position, from the board holding position to the downstream side in the X direction.

[0031] The component mounter 2 is equipped with two mounting heads 22. The mounting heads 22 are inline type mounting heads having a plurality of mounting shafts 23 arranged in a line in the X direction. Each mounting shaft 23 extends in the Z direction, and a nozzle is detachably attached to the lower end of each mounting shaft 23. The mounting heads 22 mount components E on the board B by placing the components E picked up by the nozzles on the board B. Note that the specific type of mounting head 22 is not limited to the inline type, and it may also be a rotary type in which a plurality of mounting shafts 23 are arranged circumferentially.

[0032] The component mounter 2 has two component supply units 24 arranged on either side of the board transport unit 21 in the Y direction. Each component supply unit 24 has a plurality of feeders 3 arranged in the X direction that are detachably attached. Each feeder 3 supplies components E by feeding a component storage tape that stores components E toward the tip of the feeder 3. The component storage tape stores components E in each of a plurality of pockets that are arranged at a predetermined pitch. The components E are, for example, chip components such as transistors, capacitors, or integrated circuits.

[0033] The component mounter 2 includes an XY drive mechanism 25 that individually drives each of the two mounting heads 22 in the X and Y directions. The mounting heads 22 and the XY drive mechanism 25 work together to mount components E on the board B. That is, the XY drive mechanism 25 drives the mounting head 22 so that a nozzle attached to the mounting shaft 23 of the mounting head 22 faces the component E supplied by the feeder 3 from above. The mounting head 22 then lowers the mounting shaft 23 to bring the lower end of the nozzle into contact with the upper surface of the component E, and applies negative pressure to a suction hole opening at the lower end of the nozzle to suction the component E onto the nozzle. The mounting head 22 also raises the mounting shaft 23, to which a nozzle that suctions the component E is attached, to remove the component E from the feeder 3. The XY drive mechanism 25 then drives the mounting head 22 so that the component E, which has been picked up by the nozzle of the mounting shaft 23 of the mounting head 22, faces the mounting point on the board B from above. The mounting head 22 then lowers the mounting shaft 23 to bring the component E sucked by the nozzle into contact with the surface of the board B, and applies atmospheric pressure or positive pressure to the suction hole of the nozzle to detach the component E from the nozzle onto the board B. In this way, the component E is mounted on the board B.

[0034] 3A is a perspective view showing the external configuration of an example of a feeder transfer device, and FIG. 3B is a perspective view showing how the feeder transfer device of FIG. 3A is used by an operator and a robot. In this embodiment, the diagram shows a depth direction Dd, which is a horizontal direction, a width direction Dw, which is a horizontal direction perpendicular to the depth direction Dd, and a height direction Dh, which is a vertical direction. The diagram also shows a front side Dd(+) and a rear side Dd(-) of the depth direction Dd. Here, the front side Dd(+) and the rear side Dd(-) face in opposite directions.

[0035] The feeder transfer device 6 has a rectangular parallelepiped housing 61. The space inside the housing 61 is divided into a transfer area Al and a storage area Au above the transfer area Al. The transfer area Al is provided for transferring the feeder 3 between the worker H or the robot 5 and the work subject, and the storage area Au is provided for temporarily storing the feeder 3.

[0036] The housing 61 has a bottom plate 611 and a top plate 612 that face each other with a gap in the height direction Dh. The top plate 612 is disposed above the bottom plate 611. The bottom plate 611 and the top plate 612 are each disposed horizontally and have a rectangular shape bounded by sides parallel to the depth direction Dd or the width direction Dw in a plan view from above in the height direction Dh. The delivery area Al and the storage area Au are provided between the bottom plate 611 and the top plate 612 in the height direction Dh.

[0037] The housing 61 also has side plates 613 and 614 that face each other and are spaced apart in the width direction Dw. Each of the side plates 613 and 614 is disposed perpendicular to the width direction Dw and has a rectangular shape surrounded by sides parallel to the depth direction Dd or the height direction Dh in a side view from the width direction Dw. The delivery area Al and the storage area Au are provided between the side plates 613 and 614 in the width direction Dw.

[0038] The housing 61 further has a front wall 62 and a rear wall 63 spaced apart in the depth direction Dd. The front wall 62 is located closer to the front side Dd(+) than the rear wall 63, and the rear wall 63 is located closer to the rear side Dd(-) than the front wall 62. Each of the front wall 62 and the rear wall 63 has a rectangular shape surrounded by sides parallel to the width direction Dw or the height direction Dh when viewed from the front side Dd(+). The delivery area Al and the storage area Au are located between the front wall 62 and the rear wall 63 in the depth direction Dd.

[0039] In the front wall 62, a front delivery window 621 for transferring the feeder 3 to and from the operator H opens in the depth direction Dd. The front delivery window 621 is a rectangular opening provided in the center of the front wall 62 in the width direction Dw when viewed from the front side Dd(+), and faces the delivery area Al from the front side Dd(+) in the depth direction Dd. The housing 61 also has a front door 622 that opens and closes the front delivery window 621. The front door 622 opens and closes the front delivery window 621 by sliding in the width direction Dw relative to the front delivery window 621.

[0040] Furthermore, the front wall 62 has an entrance / exit opening 623 that opens in the depth direction Dd, allowing the worker H to enter and exit. The entrance / exit opening 623 is a rectangular opening provided at the end of the front wall 62 in the width direction Dw when viewed from the front side Dd(+), and faces the delivery area Al and the storage area Au from the front side Dd(+) in the depth direction Dd. The entrance / exit opening 623 is adjacent to the front delivery window 621 in the width direction Dw. The housing 61 also has an entrance / exit door 624 that opens and closes the entrance / exit opening 623. The entrance / exit door 624 opens and closes the entrance / exit opening 623 by rotating about a rotation axis that is parallel to the height direction Dh relative to the entrance / exit opening 623.

[0041] The feeder delivery device 6 also includes a UI (User Interface) 625 that faces the front side Dd(+) and is attached to the front wall 62. The UI 625 is a touch panel display that has an output function for displaying information to the worker H and an input function for receiving input operations from the worker H.

[0042] In the rear wall 63, a rear delivery window 631 for transferring the feeder 3 to and from the robot 5 opens in the depth direction Dd. The rear delivery window 631 is a rectangular opening provided at an end of the rear wall 63 in the width direction Dw when viewed from the rear side Dd(-), and faces the delivery area Al from the rear side Dd(-) in the depth direction Dd. The housing 61 also has a rear door 632 that opens and closes the rear delivery window 631. The rear door 632 opens and closes the rear delivery window 631 by sliding in the height direction Dh relative to the rear delivery window 631. The rear delivery window 631 is provided at each end in the width direction Dw. That is, a pair of rear delivery windows 631 is provided. A rear door 632 is provided for each of the pair of rear delivery windows 631.

[0043] Fig. 4 is a perspective view showing the internal configuration of the feeder transfer device of Fig. 1. That is, Fig. 4 shows the feeder transfer device 6 with the housing 61 removed. As shown in Fig. 4, the feeder transfer device 6 includes a front transfer section 64, a rear transfer section 65, a feeder storage section 66, and a feeder transfer section 67. The front transfer section 64 and the rear transfer section 65 are disposed in a transfer area Al within the housing 61, and the feeder storage section 66 is disposed in a storage area Au within the housing 61. Furthermore, the feeder transfer section 67 is disposed across the transfer area Al and the storage area Au within the housing 61 in the height direction Dh.

[0044] In particular, the space inside the housing 61 is divided into a front area Af, a transfer area At, and a rear area Ar, which are aligned in the depth direction Dd, in a plan view from above in the height direction Dh. That is, in the space inside the housing 61, the transfer area At is located in the center of the depth direction Dd, the front area Af is located on the front side Dd(+) of the transfer area At, and the rear area Ar is located on the rear side Dd(-) of the transfer area At. The rear transfer section 65 and the feeder storage section 66 are located in the rear area Ar within the housing 61, and the feeder storage section 66, which is located above the rear transfer section 65, at least partially overlaps with the rear transfer section 65 in a plan view from above in the height direction Dh. Furthermore, the feeder transfer section 67 is located in the transfer area At within the housing 61.

[0045] The front delivery section 64 is provided for the above-mentioned front delivery window 621 (FIGS. 3A and 3B), and the front delivery window 621 faces the front delivery section 64 from the front side Dd(+). The front delivery section 64 has a front magazine 641 into which the feeder 3 can be inserted and removed, and a linear drive mechanism 73 that moves the front magazine 641 in the depth direction Dd.

[0046] The rear delivery sections 65 are provided corresponding to the pair of rear delivery windows 631 (FIGS. 3A and 3B) described above. That is, a pair of rear delivery windows 631 are provided corresponding to the pair of rear delivery sections 65 provided at both ends in the width direction Dw. Each of the pair of rear delivery windows 631 faces the corresponding rear delivery section 65 from the rear side Dd(-). The rear delivery section 65 has a rear magazine 651 into which the feeder 3 can be inserted and removed, and a rotation drive mechanism 75 that rotates the rear magazine 651.

[0047] The front magazine 641 and the rear magazine 651 each have the same configuration as the feeder magazine shown in Figures 5A to 5D. Here, Figure 5A is a perspective view showing the configuration of the feeder magazine, Figure 5B is a plan view showing the configuration of the feeder magazine, Figure 5C is a front view showing the configuration of the feeder magazine, and Figure 5D is a side view showing the configuration of the feeder magazine. Figures 5A to 5D show the depth direction Fd, width direction Fw, and height direction Fh set for the feeder magazine 71. The depth direction Fd is the horizontal direction, the width direction Fw is the horizontal direction perpendicular to the depth direction Fd, and the height direction Fh is the vertical direction. Furthermore, the insertion / removal side Fd(+) and non-insertion / removal side Fd(-) of the depth direction Fd are shown. Here, the insertion / removal side Fd(+) and the non-insertion / removal side Fd(-) face opposite each other.

[0048] The feeder magazine 71 has a horizontally disposed magazine base 711. The magazine base 711 has a plurality of slots 712 arranged in the width direction Fw. Each slot 712 extends in the depth direction Fd and has an insertion / removal end 712(+) that opens to the insertion / removal side Fd(+). The slots 712 accept the insertion and removal of feeders 3 through the insertion / removal end 712(+). That is, the feeder 3 can be attached to the slot 712 by inserting the feeder 3 into the insertion / removal end 712(+) of the slot 712 from the insertion / removal side Fd(+), and the feeder 3 can be removed from the slot 712 by removing the feeder 3 from the insertion / removal end 712(+) of the slot 712 to the insertion / removal side Fd(+).

[0049] The feeder magazine 71 also has a horizontally disposed bottom plate 713, and the magazine base 711 is placed on top of the bottom plate 713. In other words, the bottom plate 713 supports the magazine base 711 from below in the height direction Fh. The feeder magazine 71 also has a pair of side plates 714 that stand upright above the bottom plate 713 in the height direction Fh on both sides of the slot 712 in the width direction Fw. The pair of side plates 714 face each other in the width direction Fw.

[0050] The feeder magazine 71 has a pair of side plates 715 arranged on the non-insertion / removal side Fd(-) of the multiple slots 712. The pair of side plates 715 are erected above the bottom plate 713 in the height direction Fh on both sides of the multiple slots 712 in the width direction Fw, and face each other.

[0051] The feeder magazine 71 also has a support plate 716 mounted between a pair of side plates 715. The support plate 716 has a plurality of engagement holes 716h arranged in the width direction Fw on its side surface on the insertion / removal side Fd(+). Each engagement hole 716h opens to the insertion / removal side Fd(+). The plurality of engagement holes 716h are provided corresponding to the plurality of slots 712, and the engagement protrusions 316 (FIGS. 10A and 10B) of a feeder 3 inserted into a slot 712 engage with the engagement hole 716h corresponding to that slot 712.

[0052] Furthermore, the feeder magazine 71 has a support plate 717 mounted between a pair of side plates 715. The support plate 717 is located above the support plate 716 in the height direction Fh. The support plate 717 has a plurality of engagement holes 717h arranged in the width direction Fw on its side surface on the insertion / removal side Fd(+). Each engagement hole 717h opens to the insertion / removal side Fd(+). The plurality of engagement holes 717h are provided corresponding to the plurality of slots 712, and the engagement protrusions 317 (FIGS. 10A and 10B) of a feeder 3 inserted into a slot 712 engage with the engagement hole 717h of the slot 712.

[0053] Such a feeder magazine 71 accepts insertion and removal of feeders 3 from an insertion / removal end 71(+), which is the end of the insertion / removal side Fd(+) of the feeder magazine 71. That is, by inserting a feeder 3 into the insertion / removal end 71(+) of the feeder magazine 71 from the insertion / removal side Fd(+), the feeder 3 can be attached to a slot 712 of the feeder magazine 71, and by extracting the feeder 3 from the insertion / removal end 712(+) of the feeder magazine 71 to the insertion / removal side Fd(+), the feeder 3 can be removed from the slot 712 of the feeder magazine 71. Furthermore, the feeder magazine 71 does not accept insertion and removal of feeders 3 from a non-insertion / removal end 71(-), which is the end of the non-insertion / removal side Fd(-). That is, it is not possible to insert or remove a feeder 3 from the non-insertion / removal end 71(-) of the feeder magazine 71.

[0054] The feeder storage unit 66 also has a storage magazine 661 that accepts the insertion and removal of feeders 3 from the front side Dd(+). The storage magazine 661 also has the same basic configuration as the feeder magazine 71 in Figures 5A to 5D. That is, the storage magazine 661 differs from the example shown in Figures 5A to 5D in terms of its size in the width direction Dw, but is otherwise the same. In the feeder storage unit 66, the storage magazine 661 is positioned so that the insertion and removal side Fd(+) of the feeder magazine 71 coincides with the front side Dd(+).

[0055] 6 is a perspective view showing the configuration of a linear drive mechanism that linearly drives the front magazine. The linear drive mechanism 73 has a horizontally disposed base plate 731 that extends in the depth direction Dd. The linear drive mechanism 73 has a pair of slide guides 732 attached to the upper surface of the base plate 731. The pair of slide guides 732 are disposed parallel to the depth direction Dd.

[0056] The slide guide 732 has a guide rail 733 provided parallel to the depth direction Dd and a slider 734 that engages with the guide rail 733, and the slider 734 is movable in the height direction Dh along the guide rail 733. Furthermore, the slide guide 732 has an attachment plate 735 attached to the slider 734 by a plurality of pillars. This attachment plate 735 is movable in the depth direction Dd while being guided by the guide rail 733.

[0057] The linear drive mechanism 73 also has a linear drive unit 736 attached to the upper surface of the base plate 731. The linear drive unit 736 is disposed between the pair of slide guides 732 in the width direction Dw and is disposed parallel to the depth direction Dd. The linear drive unit 736 has a single-axis robot 737 disposed parallel to the depth direction Dd and a mounting plate 738 attached to the slider of the single-axis robot 737 by multiple pillars. The single-axis robot 737 has a motor M73, and the driving force generated by the motor M73 drives the mounting plate 735 in the depth direction Dd.

[0058] The mounting plate 738 is located between the pair of mounting plates 735 in the width direction Dw, and the mounting plate 738 and the pair of mounting plates 735 are located at the same position (height) in the height direction Dh. The front magazine 641 is attached to the mounting plate 738 and the pair of mounting plates 735 and is supported from below by the linear drive mechanism 73. Therefore, the linear drive mechanism 73 can move the front magazine 641 straight in the depth direction Dd using the motor M73 of the single-axis robot 737. Note that the insertion / removal side Fd(+) of the front magazine 641 attached to the linear drive mechanism 73 coincides with the front side Dd(+).

[0059] 7 is a perspective view showing the configuration of the rotation drive mechanism that rotates the rear magazine. The rotation drive mechanism 75 has a rotary table 751 that is circular in plan view from above in the height direction Dh, and a rotary drive unit 752 that rotates the rotary table 751. The rotary table 751 is supported horizontally by the rotary drive unit 752 and is rotatable in a rotation direction R75 about a rotation axis A75 that is parallel to the height direction Dh. The rotary drive unit 752 has a motor M75, and the rotary table 751 is driven in the rotation direction R75 by the driving force generated by the motor M75.

[0060] The rear magazine 651 is attached to a rotary table 751 and is supported from below by the rotation drive mechanism 75. Therefore, the rear magazine 651 can be rotated in a rotation direction R75 by a motor M75 of the rotation drive mechanism 75. As the rear magazine 651 rotates, the insertion / removal side Fd(+) of the rear magazine 651 also rotates.

[0061] Figures 8A and 8B are oblique views showing the configuration of the feeder transfer section, Figure 8C is a plan view showing the configuration of the feeder transfer section, Figure 8D is a front view showing the configuration of the feeder transfer section, and Figure 8E is a side view showing the configuration of the feeder transfer section.

[0062] The feeder transfer section 67 has a transfer unit 68 and an orthogonal robot 69 that drives the transfer unit 68 in the height direction Dh and the width direction Dw. The orthogonal robot 69 has a pair of lifting / lowering drive units 691 that are spaced apart in the width direction Dw. The lifting / lowering drive unit 691 has a bottom plate 692 that is attached horizontally to the bottom plate 611 of the housing 61, a side plate 693 that is erected above the bottom plate 692 in the height direction Dh, and a single-axis robot 694 that is attached to the side plate 693. The single-axis robot 694 is arranged parallel to the height direction Dh, and a motor Mh of the single-axis robot 694 is attached to the upper end of the side plate 693.

[0063] The Cartesian robot 69 also has a horizontal drive unit 695 suspended in the width direction Dw between the pair of lifting drive units 691. The horizontal drive unit 695 is attached to the slider of the single-axis robot 694 of each of the pair of lifting drive units 691, and the motors Mh of each of the pair of lifting drive units 691 are synchronized to drive (raise and lower) the horizontal drive unit 695 in the height direction Dh. The Cartesian robot 69 is attached to the horizontal drive unit 695, and the horizontal drive unit 695 drives the transfer unit 68 in the width direction Dw by a motor (not shown).

[0064] Therefore, the Cartesian robot 69 can move the loading / unloading unit 68 in the height direction Dh between an upper position Lu ( FIG. 8A ) and a lower position Ll ( FIG. 8B ) below the upper position Lu using a pair of lifting / lowering drive units 691. Furthermore, the Cartesian robot 69 can move the loading / unloading unit 68 in the width direction Dw using a horizontal drive unit 695. That is, the Cartesian robot 69 can move the loading / unloading unit 68 along two axes, the height direction Dh and the width direction Dw, which are perpendicular to each other. The upper position Lu is located within the storage area Au, and the lower position Ll is located within the delivery area Al. That is, the loading / unloading unit 68 located at the upper position Lu is located within the storage area Au, and the loading / unloading unit 68 located at the lower position Ll is located within the delivery area Al.

[0065] Figures 9A and 9B are oblique views showing the configuration of the transfer unit, Figures 9C and 9D are side views showing the configuration of the transfer unit, Figure 9E is a plan view showing the configuration of the transfer unit, and Figure 9F is a front view showing the configuration of the transfer unit.

[0066] The loading / unloading unit 68 has a bottom plate 681 and a top plate 682 that face each other with a gap in the height direction Dh, and multiple (four) rods 683 that support the top plate 682 relative to the bottom plate 681. The bottom plate 681 and the top plate 682 have a rectangular shape when viewed from above in the height direction Dh and are arranged horizontally. The multiple rods 683 are arranged at the four corners of the bottom plate 681 and the top plate 682, respectively, and support the top plate 682 above the bottom plate 681. The bottom plate 681 is attached to a horizontal drive unit 695 and is driven in the width direction Dw by the horizontal drive unit 695.

[0067] The loading / unloading unit 68 also has a code reader 684 that reads an identification code such as a barcode. The code reader 684 is located at the end of the rear side Dd(-) of the loading / unloading unit 68 and is attached facing the rear side Dd(-). In particular, the code reader 684 is attached to one of the four rods 683 provided at the four corners, and is provided offset to one side from the center of the bottom plate 681 in the width direction Dw.

[0068] The loading / unloading unit 68 also has a slot 685 provided on the upper surface of the bottom plate 681. This slot 685 is provided offset to one side from the center of the bottom plate 681 in the width direction Dw. In this example, a single slot 685 is provided. However, the number of slots 685 may be two or more. The slot 685 extends in the depth direction Dd and has an insertion / removal end 685(-) that opens on the rear side Dd(-). The slot 685 accepts the insertion and removal of a feeder 3 through the insertion / removal end 685(-). In other words, the feeder 3 can be attached to the slot 685 by inserting the feeder 3 into the insertion / removal end 685(-) of the slot 685 from the rear side Dd(-). In this way, the feeder 3 attached to the slot 685 is accommodated between the bottom plate 681 and the top plate 682. Furthermore, the feeder 3 can be removed from the slot 685 by pulling it out from the insertion / removal end 685(-) of the slot 685 to the rear side Dd(-).

[0069] Furthermore, the transfer unit 68 has a transfer arm 81 that inserts and removes the feeder 3. Figures 10A and 10B are side views that schematically show the configuration and operation of the transfer arm. In these figures, the feeder 3 is shown in addition to the transfer arm 81.

[0070] The feeder 3 has a feeder body 31 and an engagement rail 311 provided on the bottom surface of the feeder body 31. The engagement rail 311 extends parallel to the depth direction Dd and is inserted into and removed from a slot 712 of the feeder magazine 71 and a slot 685 of the loading / unloading unit 68 in the depth direction Dd. The feeder 3 also has a clamper 312 provided on the front surface of the feeder body 31 and a clamp release lever 313 provided on the top surface of the feeder body 31. The feeder 3 also has an engagement hole 314 that opens on the top surface of the feeder body 31. The feeder 3 also has engagement protrusions 316 and 317 provided on the front surface of the feeder body 31 and protruding forward from the feeder body 31.

[0071] When the feeder 3 is attached to the feeder magazine 71, the engaging rail 311 engages with the slot 712, and the engaging protrusions 316 and 317 fit into the engaging holes 716h and 717h, respectively, of the feeder magazine 71. Furthermore, the clamper 312 clamps a clamped portion provided at a predetermined position on the feeder magazine 71. In this way, the feeder 3 is held in the feeder magazine 71.

[0072] The clamp release lever 313 is provided to release the clamping by the clamper 312. The clamper 312 clamps the clamped portion of the feeder magazine 71 by the biasing force of a clamp spring (not shown). In contrast, when the clamp release lever 313 is pressed from above, the clamp release lever 313 rotates against the biasing force of the clamp spring. This releases the clamping by the clamper 312, making it possible to remove the feeder 3 from the feeder magazine 71.

[0073] The transfer arm 81 includes a single-axis robot 811 arranged parallel to the depth direction Dd, and a mounting block 812 attached to a slider of the single-axis robot 811 and driven in the depth direction Dd by the single-axis robot 811. The transfer arm 81 also includes a lifting block 813 attached to the mounting block 812 so as to be movable in the height direction Dh (i.e., so as to be able to move up and down). The transfer arm 81 also includes an engagement claw 814 and a pressure plate 815 attached to the lifting block 813. The engagement claw 814 and the pressure plate 815 move up and down integrally with the lifting block 813. The engagement claw 814 protrudes downward in the height direction Dh from the lifting block 813, and the pressure plate 815 is provided horizontally above the engagement claw 814.

[0074] As described above, the front magazine 641, the rear magazine 651, and the storage magazine 661 have the same configuration as the feeder magazine 71. Steps S101 to S103 in Figure 10A show the operation for transferring the feeder 3 from the loading / unloading unit 68 to the feeder magazine 71. In step S101, the single-axis robot 811 adjusts the position of the mounting block 812 in the depth direction Dd so that the engaging claw 814 faces, from above, the engaging hole 314 of the feeder 3 held by the loading / unloading unit 68. In step S102, the lifting block 813 descends relative to the mounting block 812, and the engaging claw 814 is inserted into the engaging hole 314 of the feeder 3 held by the loading / unloading unit 68. Furthermore, as the lifting block 813 descends, the clamp release lever 313 is pushed downward.

[0075] Next, the single-axis robot 811 drives the mounting block 812 to the rear side Dd(-), thereby moving the feeder 3 with the inserted engaging claw 814 to the rear side Dd(-) (step S103). As a result, the feeder 3 moves from the transfer unit 68 to the feeder magazine 71 and is inserted into the slot 712 of the feeder magazine 71 from the front side Dd(+). In this state, when the lift block 813 rises to the mounting block 812, the clamp release lever 313 rises due to the biasing force of the clamp spring, and the clamper 312 clamps the clamped portion of the feeder magazine 71. In this way, the feeder 3 is transferred from the transfer unit 68 to the feeder magazine 71.

[0076] Steps S201 to S203 in Figure 10B show the operation for transferring the feeder 3 from the feeder magazine 71 to the transfer unit 68. In step S201, the single-axis robot 811 adjusts the position of the mounting block 812 in the depth direction Dd so that the engaging claw 814 faces from above the engaging hole 314 of the feeder 3 held in the feeder magazine 71. In step S202, the lifting block 813 descends relative to the mounting block 812, and the engaging claw 814 is inserted into the engaging hole 314 of the feeder 3 held in the feeder magazine 71. In addition, as the lifting block 813 descends, the clamp release lever 313 is pushed downward. In this way, the clamping of the clamped portion of the feeder magazine 71 by the clamper 312 is released.

[0077] Next, the single-axis robot 811 drives the mounting block 812 to the rear side Dd(-), thereby moving the feeder 3 with the inserted engaging claw 814 to the rear side Dd(-) (step S203). As a result, the feeder 3 moves from the feeder magazine 71 to the loading / unloading unit 68 and is inserted into the slot 685 of the loading / unloading unit 68 from the rear side Dd(-). In this way, the feeder 3 is transferred from the feeder magazine 71 to the loading / unloading unit 68.

[0078] FIG. 11 is a plan view schematically showing various states that the front magazine and rear magazine can assume. The linear drive mechanism 73 extends in the depth direction Dd from the delivery position Ld to the transfer position Lt. Here, the delivery position Ld is a position adjacent to the front delivery window 621 from the rear side Dd(-), and the transfer position Lt is a position Dd(-) rearward of the delivery position Ld. This linear drive mechanism 73 moves the front magazine 641 in the depth direction Dd between the delivery position Ld and the transfer position Lt. The delivery position Ld is located in the front area Af, and the transfer position Lt is located in the rear area Ar.

[0079] The rear magazine 651 is located at a rear position Lr adjacent to the rear delivery window 631 from the front side Dd(+). The rear position Lr is provided within the rear area Ar. The rotation drive mechanism 75 can rotate the rear magazine 651 located at the rear position Lr in a rotation direction R75. That is, the rotation drive mechanism 75 rotates the rear magazine 651 in the rotation direction R75 between a transfer angle θt at which the insertion / removal end 71(+) (in other words, the insertion / removal side Fd(+)) faces the front side Dd(+) and a delivery angle θd at which the insertion / removal end 71(+) faces the rear side Dd(-). In this example, the transfer angle θt and the delivery angle θd differ by 180 degrees. That is, the rear magazine 651 located at the transfer angle θt and the rear magazine 651 located at the delivery angle θd face opposite directions.

[0080] The feeder transfer section 67 is disposed in the transfer area At. The feeder transfer section 67 moves the transfer unit 68 within the transfer area At using the Cartesian robot 69, and causes the transfer unit 68 to perform the operations shown in Figures 10A and 10B (steps S101 to S103, S201 to S203). This allows the feeders 3 to be transferred between the transfer unit 68 and the front magazine 641, between the transfer unit 68 and the rear magazine 651, and between the transfer unit 68 and the storage magazine 661.

[0081] In state S1, the front magazine 641 is located at the delivery position Ld, and the insertion / removal end 71(+) of the front magazine 641 is adjacent to the front delivery window 621 from the rear side Dd(-). Therefore, the operator H can insert or remove the feeder 3 from the front side Dd(+) relative to the front magazine 641 at the delivery position Ld via the front delivery window 621. Also, in state S1, the rear magazine 651 at the rear position Lr is located at a delivery angle θd in the rotational direction R75, and the insertion / removal end 71(+) of the rear magazine 651 is adjacent to the rear delivery window 631 from the front side Dd(+). Therefore, the robot 5 can insert or remove the feeder 3 from the rear side Dd(-) relative to the rear magazine 651 at the delivery angle θd via the rear delivery window 631.

[0082] In state S2, the front magazine 641 is located at the transfer position Lt, and the insertion / removal end 71(+) of the front magazine 641 is adjacent to the transfer area At from the rear side Dd(-). Therefore, the feeder transfer section 67 can insert and remove the feeder 3 from the front side Dd(+) with respect to the front magazine 641 at the transfer position Lt. In other words, the feeder 3 can be transferred between the transfer unit 68 and the front magazine 641. Note that the rear magazine 651 is the same in state S2 and state S1.

[0083] In state S3, the rear magazine 651 at the rear position Lr is positioned at a transfer angle θt in the rotation direction R75, and the insertion / removal end 71(+) of the rear magazine 651 is adjacent to the transfer area At from the rear side Dd(-). Therefore, the feeder transfer section 67 can insert and remove the feeder 3 from the front side Dd(+) with respect to the rear magazine 651 at the transfer angle θt. In other words, the feeder 3 can be transferred between the transfer unit 68 and the rear magazine 651. Note that the front magazine 641 is the same in state S3 and state S1.

[0084] In state S4, the front magazine 641 is in the same state as state S2, and the rear magazine 651 is in the same state as state S3. That is, the insertion / removal end 71(+) of the front magazine 641 and the insertion / removal end 71(+) of the rear magazine 651 are adjacent to the transfer area At from the rear side Dd(-). That is, the transfer unit 68 can transfer the feeders 3 between the front magazine 641 and the rear magazine 651.

[0085] FIG. 12 is a block diagram showing an example of the electrical configuration of the feeder transfer device 6. As shown in FIG. 12, the feeder transfer device 6 includes a control unit 91 and a communication unit 92. The control unit 91 is configured with a processor such as a CPU (Central Processing Unit) and comprehensively controls the feeder transfer device 6. The communication unit 92 wirelessly transmits and receives information with a terminal carried by the operator H and the server computer 100. The UI 625, the feeder transfer unit 67, the linear drive mechanism 73, the rotary drive mechanism 75, and the communication unit 92 each operate under the control of the control unit 91. Furthermore, the control unit 91 controls the opening and closing of the front door 622 and the rear door 632. That is, the front door 622 and the rear door 632 each open when an open command is received from the control unit 91, and close when a close command is received from the control unit 91. Furthermore, the feeder transfer device 6 includes a rear door sensor 633 and a robot approach sensor 634 corresponding to each rear door 632. The rear door sensor 633 detects the open / closed state of the corresponding rear door 632, and sends an open signal to the control unit 91 when the rear door 632 is open, and sends a close signal to the control unit 91 when the rear door 632 is closed. The robot approach sensor 634 is a distance sensor, and sends a robot detection signal to the control unit 91 when it detects that the robot 5 is present within a predetermined range from the corresponding rear door 632. In other words, the robot approach sensor 634 detects the approach of the robot 5 to the corresponding rear door 632 and notifies the control unit 91.

[0086] 13A is a flowchart illustrating an example of a manual entry response process executed by the feeder delivery device. The manual entry response process is executed under the control of the control unit 91 to respond to a manual entry request for the feeder 3.

[0087] In step S301, the control unit 91 determines whether or not a warehousing request has been received from a person. Specifically, when the communication unit 92 receives a warehousing request from a terminal carried by the person or when a warehousing request is input to the UI 625, it is determined that a warehousing request has been received ("YES" in step S301).

[0088] If it is determined that a storage request has been made (YES in step S301), the control unit 91 controls the linear drive mechanism 73 to position the front magazine 641 at the delivery position Ld (step S302). With the front magazine 641 stopped at the delivery position Ld, the control unit 91 opens the front door 622 (step S303).

[0089] In step S304, the control unit 91 determines whether a person has completed storing the feeder 3 in the front magazine 641 at the delivery position Ld. Specifically, when the communication unit 92 receives a storing completion report from a terminal carried by the person or when a storing completion report is input to the UI 625, it is determined that storing is completed ("YES" in step S304).

[0090] If it is determined that the storing is completed ("YES" in step S304), the control unit 91 closes the front door 622 (step S305). After the front door 622 is closed, the control unit 91 controls the linear drive mechanism 73 to move the front magazine 641 from the delivery position Ld to the transfer position Lt (step S306).

[0091] With the front magazine 641 stopped at the transfer position Lt, the control unit 91 controls the Cartesian robot 69 of the feeder transfer section 67 to move the transfer unit 68 toward the front magazine 641 from the front side Dd(+) (step S307). In step S308, the control unit 91 recognizes the feeder 3 to be stored based on the result of the code reader 684 reading the identification code attached to the feeder 3 held in the front magazine 641. For example, the control unit 91 can recognize the position of the feeder 3 to be stored based on the identification code read by the code reader 684 when the code reader 684 is moved in the width direction Dw. In step S309, the control unit 91 controls the transfer arm 81 of the transfer unit 68 of the feeder transfer section 67 to transfer the feeder 3 recognized in step S308 from the front magazine 641 to the slot 685 of the transfer unit 68.

[0092] In step S310, the control unit 91 controls the Cartesian robot 69 of the feeder transfer section 67 to move the transfer unit 68 to face the storage magazine 661 from the front side Dd(+). In step S311, the control unit 91 controls the transfer arm 81 of the transfer unit 68 of the feeder transfer section 67 to transfer the feeder 3 from the transfer unit 68 to the storage magazine 661. In this way, the feeder 3 that a person has put into the front magazine 641 is stored in the storage magazine 661.

[0093] 13B is a flowchart illustrating an example of a manual delivery response process executed by the feeder delivery device. The manual delivery response process is executed under the control of the control unit 91 to respond to a manual request to deliver the feeder 3.

[0094] In step S401, the control unit 91 determines whether or not a delivery request has been received from a person. Specifically, when the communication unit 92 receives a delivery request from a terminal carried by the person or when a delivery request is input to the UI 625, it is determined that a delivery request has been received ("YES" in step S401).

[0095] If it is determined that a retrieval request has been made ("YES" in step S401), the control unit 91 controls the linear drive mechanism 73 to position the front magazine 641 at the transfer position Lt (step S402). With the front magazine 641 stopped at the transfer position Lt, the control unit 91 controls the Cartesian robot 69 of the feeder transfer unit 67 to move the transfer unit 68 to face the storage magazine 661 from the front side Dd(+) (step S403).

[0096] In step S404, the control unit 91 recognizes the feeder 3 to be retrieved based on the result of the code reader 684 reading the identification code attached to the feeder 3 held in the storage magazine 661. In step S405, the control unit 91 controls the transfer arm 81 of the transfer unit 68 of the feeder transfer unit 67 to transfer the feeder 3 recognized in step S408 from the storage magazine 661 to the slot 685 of the transfer unit 68.

[0097] In step S406, the control unit 91 controls the Cartesian robot 69 of the feeder transfer section 67 to move the transfer unit 68 to face the front magazine 641 from the front side Dd(+). In step S407, the control unit 91 controls the transfer arm 81 of the transfer unit 68 of the feeder transfer section 67 to transfer the feeder 3 from the transfer unit 68 to the front magazine 641.

[0098] In step S408, the control unit 91 controls the linear drive mechanism 73 to move the front magazine 641 from the transfer position Lt to the delivery position Ld. In step S409, the control unit 91 opens the front door 622. In step S410, the control unit 91 determines whether a person has completed the unloading of the feeder 3 from the front magazine 641 at the delivery position Ld. Specifically, when the communication unit 92 receives a report of unloading completion from a terminal carried by the person or when a report of unloading completion is input to the UI 625, it is determined that unloading is complete ("YES" in step S410). When it is determined that unloading is complete ("YES" in step S410), the control unit 91 closes the front door 622 (step S411).

[0099] 13C is a flowchart showing an example of a robot entry response process executed by the feeder delivery device. The robot entry response process is executed under the control of the control unit 91 to respond to a request for entry of the feeder 3 by the robot 5. The robot entry response process of FIG. 13C is common to each of a pair of rear magazines 651. Therefore, the robot entry response process for one rear magazine 651 will be described.

[0100] In step S501, the control unit 91 checks whether the rear door open condition, which is the condition for opening the rear door 632, is satisfied. When the control unit 91 confirms that the communication unit 92 has received an open command from the server computer 100 and that the robot approach sensor 634 has output a robot detection signal, the control unit 91 determines that the rear door open condition has been satisfied ("YES" in step S501). Specifically, when the communication unit 92 receives a storage request from the robot 5 via the server computer 100, the control unit 91 confirms that the storage request is an open command. Furthermore, when the control unit 91 receives a robot detection signal from the robot approach sensor 634, the control unit 91 determines that the rear door open condition, for opening the rear door 632 corresponding to the robot approach sensor 634, has been satisfied ("YES" in step S501).

[0101] If it is determined that the rear door opening condition is satisfied (YES in step S501), the control unit 91 controls the rotation drive mechanism 75 to position the rear magazine 651 at the delivery angle θd (step S502). With the rear magazine 651 stopped at the delivery angle θd, the control unit 91 opens the rear door 632 (step S503).

[0102] In step S504, the control unit 91 determines whether a person has completed storing the feeder 3 into the rear magazine 651 at the delivery angle θd. Specifically, when the communication unit 92 receives a storing completion report from the robot 5 via the server computer 100, it is determined that storing is completed ("YES" in step S504).

[0103] If it is determined that the storage is completed (YES in step S504), the control unit 91 closes the rear door 632 (step S505). After closing the rear door 632, the control unit 91 controls the rotation drive mechanism 75 to move the rear magazine 651 from the delivery angle θd to the transfer angle θt (step S506).

[0104] With the rear magazine 651 stopped at the transfer angle θt, the control unit 91 controls the Cartesian robot 69 of the feeder transfer section 67 to move the transfer unit 68 to face the rear magazine 651 from the front side Dd(+) (step S507). In step S508, the control unit 91 recognizes the feeder 3 to be stored based on the result of the code reader 684 reading the identification code attached to the feeder 3 held in the rear magazine 651. In step S509, the control unit 91 controls the transfer arm 81 of the transfer unit 68 of the feeder transfer section 67 to transfer the feeder 3 recognized in step S508 from the rear magazine 651 to the slot 685 of the transfer unit 68.

[0105] In step S510, the control unit 91 controls the Cartesian robot 69 of the feeder transfer section 67 to move the transfer unit 68 to face the storage magazine 661 from the front side Dd(+). In step S511, the control unit 91 controls the transfer arm 81 of the transfer unit 68 of the feeder transfer section 67 to transfer the feeder 3 from the transfer unit 68 to the storage magazine 661. In this way, the feeder 3 that the robot 5 has placed in the rear magazine 651 is stored in the storage magazine 661.

[0106] Fig. 13D is a flowchart showing an example of a robot retrieval response process executed by the feeder transfer device. The robot retrieval response process is executed under the control of the control unit 91 to respond to a request for retrieval of the feeder 3 by the robot 5. The robot retrieval response process of Fig. 13D is common to each of a pair of rear magazines 651. Therefore, the robot retrieval response process for one rear magazine 651 will be described.

[0107] In step S601, the control unit 91 checks whether the rear door open condition, which is the condition for opening the rear door 632, is satisfied. When the control unit 91 confirms that the communication unit 92 has received an open command from the server computer 100 and that the robot approach sensor 634 has output a robot detection signal, the control unit 91 determines that the rear door open condition has been satisfied ("YES" in step S601). Specifically, when the communication unit 92 receives a release request from the robot 5 via the server computer 100, the control unit 91 confirms that the release request is an open command. Furthermore, when the control unit 91 receives a robot detection signal from the robot approach sensor 634, the control unit 91 determines that the rear door open condition, which is the condition for opening the rear door 632 corresponding to the robot approach sensor 634, has been satisfied ("YES" in step S601).

[0108] If it is determined that the rear door open condition is satisfied (YES in step S601), the control unit 91 controls the rotation drive mechanism 75 to position the rear magazine 651 at the transfer angle θt (step S602). With the rear magazine 651 stopped at the transfer angle θt, the control unit 91 controls the Cartesian robot 69 of the feeder transfer unit 67 to position the transfer unit 68 facing the storage magazine 661 from the front side Dd(+) (step S603).

[0109] In step S604, the control unit 91 recognizes the feeder 3 to be retrieved based on the result of the code reader 684 reading the identification code attached to the feeder 3 held in the storage magazine 661. In step S605, the control unit 91 controls the transfer arm 81 of the transfer unit 68 of the feeder transfer unit 67 to transfer the feeder 3 recognized in step S608 from the storage magazine 661 to the slot 685 of the transfer unit 68.

[0110] In step S606, the control unit 91 controls the Cartesian robot 69 of the feeder transfer section 67 to move the transfer unit 68 to face the rear magazine 651 from the front side Dd(+). In step S607, the control unit 91 controls the transfer arm 81 of the transfer unit 68 of the feeder transfer section 67 to transfer the feeder 3 from the transfer unit 68 to the rear magazine 651.

[0111] In step S608, the control unit 91 controls the rotation drive mechanism 75 to move the rear magazine 651 from the transfer angle θt to the delivery angle θd. In step S609, the control unit 91 opens the rear door 632. In step S610, the control unit 91 determines whether the robot 5 has completed retrieving the feeder 3 from the rear magazine 651 at the delivery angle θd. Specifically, when the communication unit 92 receives a retrieval completion report from the robot 5 via the server computer 100, it is determined that retrieval is complete ("YES" in step S610). If it is determined that retrieval is complete ("YES" in step S610), the control unit 91 closes the rear door 632 (step S611).

[0112] In the embodiment described above, a feeder storage unit 66 (workpiece storage unit) that stores the feeders 3 (workpieces) is provided. Therefore, the feeder storage unit 66 functions as a buffer, allowing the worker H (first worker) and the robot 5 (second worker) to perform their respective tasks efficiently. A feeder transfer unit 67 (workpiece transfer unit) is provided that transfers the feeders 3 between the front delivery unit 64 (first delivery unit), which transfers the feeders 3 between the worker H and the feeder storage unit 66, and transfers the robot 5 between the rear delivery unit 65 (second delivery unit), which transfers the robot 5 between the robot 5 and the feeder storage unit 66. Furthermore, this feeder transfer section 67 can perform the following steps: - Steps S307 to S311 (first incoming response operation) of transferring a robot 5 that has been brought into the front delivery section 64 by worker H from the front delivery section 64 to the feeder storage section 66; - Steps S403 to S407 (first outgoing response operation) of transferring a feeder 3 that is scheduled to be shipped by worker H from the feeder storage section 66 to the front delivery section 64; - Steps S507 to S511 (second incoming response operation) of transferring a feeder 3 that has been brought into the rear delivery section 65 by the robot 5 from the rear delivery section 65 to the feeder storage section 66; and - Steps S603 to S607 (second outgoing response operation) of transferring a feeder 3 that is scheduled to be shipped by robot 5 from the feeder storage section 66 to the rear delivery section 65. That is, the storing of feeder 3 by worker H can be handled by steps S307 to S311 (first storing-in response operation), the retrieval of feeder 3 by worker H can be handled by steps S403 to S407 (first retrieval-in response operation), the storing of feeder 3 by robot 5 can be handled by steps S507 to S511 (second storing-in response operation), and the retrieval of feeder 3 by robot 5 can be handled by steps S603 to S607 (second retrieval-in response operation). As a result, it becomes possible for each worker to accurately perform the work required at a work site where feeder 3 is handed over between multiple workers (workers H and robots 5).

[0113] The robot 5 further includes a housing 61 that houses a front delivery section 64 (first delivery section), a rear delivery section 65 (second delivery section), a feeder storage section 66 (workpiece storage section), and a feeder transfer section 67 (workpiece transfer section). The housing 61 also has a front delivery window 621 (first delivery window) and a rear delivery window 631 (second delivery window) that open at different locations. The feeder 3 is delivered between the worker H and the front delivery section 64 via the front delivery window 621 (steps S304, S410), and the feeder 3 is delivered between the robot 5 and the rear delivery section 65 via the rear delivery window 631 (steps S504, S610). In this way, by providing a front delivery window 621 for worker H and a rear delivery window 631 for robot 5, the movement lines of worker H and robot 5 can be separated, allowing each of worker H and robot 5 to perform work efficiently.

[0114] The housing 61 also has a front wall 62 (first wall) and a rear wall 63 (second wall) that are spaced apart in the depth direction Dd. The front delivery section 64, the rear delivery section 65, the feeder storage section 66, and the feeder transfer section 67 are disposed between the front wall 62 and the rear wall 63 in the depth direction Dd. The front delivery window 621 opens at the front wall 62, and the rear delivery window 631 opens at the rear wall 63. By providing the front delivery window 621 and the rear delivery window 631 on opposite sides of the housing 61 in this way, the flow lines of the operator H and the robot 5 can be reliably separated, allowing each of the operator H and the robot 5 to perform their tasks more efficiently.

[0115] The front delivery section 64 also has a front magazine 641 (first workpiece holding section) and a linear drive mechanism 73 (first drive section) that moves the front magazine 641 in the depth direction Dd. The front wall section 62 is located on the front side Dd(+) (one side) in the depth direction Dd from the rear wall section 63, and the rear wall section 63 is located on the rear side Dd(-) (the other side) in the depth direction Dd from the front wall section 62. The front magazine 641 accepts insertion and removal of feeders 3 from the front side Dd(+) but does not accept insertion and removal of feeders 3 from the rear side Dd(-). The linear drive mechanism 73 moves the front magazine 641 between a delivery position Ld adjacent to the front delivery window 621 from the rear side Dd(-) and a transfer position Lt located on the rear side Dd(-) from the delivery position Ld. The feeder transfer unit 67 executes steps S307 to S311 (first loading operation) and steps S403 to S407 (first retrieval operation) in a transfer area At provided between the delivery position Ld and the transfer position Lt in the depth direction Dd. An operator H inserts and removes a feeder 3 from the front side Dd(+) of the front magazine 641, which is stopped at the delivery position Ld, via the front delivery window 621. In steps S307 to S311 (first loading operation), the feeder transfer unit 67 faces the front magazine 641, which is stopped at the transfer position Lt, from the front side Dd(+) and removes the robot 5 from the front magazine 641. In steps S403 to S407 (first retrieval operation), the feeder transfer unit 67 faces the front magazine 641, which is stopped at the transfer position Lt, from the front side Dd(+) and inserts a feeder 3 into the front magazine 641. In this configuration, the front magazine 641 only accepts insertion and removal of feeders 3 from the front side Dd(+) in the depth direction Dd, and the operator H and the feeder transfer section 67 can each properly insert and remove the feeders 3.

[0116] The housing 61 also has a front door 622 (first door) that opens and closes the front delivery window 621. In this configuration, the front door 622 can prevent foreign objects from entering the housing 61 through the front delivery window 621, for example.

[0117] Incidentally, during the period when the front magazine 641 does not stop at the transfer position Lt (the period of steps S301 to S305 and S401), the transfer unit 68 of the feeder transfer section 67 retreats from a position facing the front magazine 641 at the transfer position Lt from the front side Dd(+). Then, after the front magazine 641 stops at the transfer position Lt (steps S306 and S402), the transfer unit 68 moves to a position facing the front magazine 641 at the transfer position Lt from one side (steps S307 and S406). With this configuration, interference between the transfer unit 68 of the feeder transfer section 67 and the front magazine 641 can be prevented.

[0118] The rear delivery section 65 also has a rear magazine 651 located rearward Dd(-) from the transfer area At in the depth direction Dd and adjacent to the rear delivery window 631 from the front side Dd(+), and a rotation drive mechanism 75 (second drive unit) that rotates the rear magazine 651 horizontally. The rear magazine 651 has an insertion / removal end 71(+) (insertion / removal side end) and a non-insertion / removal end 71(-) (non-insertion / removal side end) opposite the insertion / removal end 71(+). The insertion / removal end 71(+) accepts insertion and removal of a feeder 3, but does not accept insertion and removal of a feeder 3 from the non-insertion / removal end 71(-). The rotation drive mechanism 75 rotates the rear magazine 651 between a transfer angle θt at which the insertion / removal end 71(+) faces the front side Dd(+) and a delivery angle θd at which the insertion / removal end 71(+) faces the rear side Dd(-). The robot 5 inserts and removes the feeder 3 from the rear side Dd(-) through the rear delivery window 631 into and from the rear magazine 651 stopped at the delivery angle θd (steps S504 and S610). The feeder transfer unit 67 faces the rear magazine 651 stopped at the delivery angle θt from the front side Dd(+) in steps S507 to S511 (second loading operation), and removes the feeder 3 from the rear magazine 651. In steps S603 to S607 (second retrieval operation), the feeder transfer unit 67 faces the rear magazine 651 stopped at the delivery angle θt from the front side Dd(+) and inserts the feeder 3 into the rear magazine 651. With this configuration, the robot 5 and the feeder transfer unit 67 can each appropriately transfer the feeder 3 to and from the rear magazine 651, which only accepts insertion and removal of the feeder 3 from the insertion end 71(+).

[0119] Furthermore, the rear magazine 651 is positioned offset in the width direction Dw from the movement path of the front magazine 641, which moves in the depth direction Dd between the delivery position Ld and the transfer position Lt (FIG. 11). With this configuration, interference between the front magazine 641 and the rear magazine 651 can be prevented.

[0120] Furthermore, the transfer unit 68 of the feeder transfer section 67 retreats from the position facing the rear magazine 651 from the front side Dd(+) during the period when the rear magazine 651 does not stop at the transfer angle θt (the period of steps S501 to S505, S601). Then, after the rear magazine 651 stops at the transfer angle θt (steps S506, S602), the transfer unit 68 moves to the position facing the rear magazine 651 from the front side Dd(+) (steps S507, S606). With this configuration, interference between the work transfer section and the second work holding section can be prevented.

[0121] Also provided is a rear door 632 (second door) that opens and closes the rear delivery window 631. In this configuration, the rear door 632 can prevent foreign matter from entering the housing 61 through the rear delivery window 631, for example.

[0122] The system also includes a communication unit 92 that communicates with server computer 100 (external server), and a control unit 91 (door control unit) that controls the opening and closing of rear door 632 based on commands received by communication unit 92 from server computer 100. In response to a request (entry request or delivery request) from robot 5, server computer 100 transmits the entry request or delivery request (open command) to communication unit 92, and after communication unit 92 receives the entry request or delivery request (steps S501 and S601), control unit 91 opens rear door 632 (steps S503 and S609). This configuration allows rear door 632 to be opened only when robot 5 inserts or removes feeder 3. This prevents rear door 632 from being opened unnecessarily.

[0123] The housing 61 also has an access opening 623 for allowing the worker H to enter the housing 61, and an access door 624 for opening and closing the access opening 623. With this configuration, the worker H can enter the access door 624 to perform maintenance.

[0124] The entrance / exit opening 623 is provided in the front wall 62. In this configuration, by using the front delivery window 621 for the work of the worker H as described above, the location to which the worker H has access can be limited to the front wall 62.

[0125] The system is also provided with a control unit 91 (operation control unit) that controls the operations of the front delivery unit 64, the rear delivery unit 65, and the feeder transfer unit 67. This control unit 91 prohibits the operations of the front delivery unit 64, the rear delivery unit 65, and the feeder transfer unit 67 when the access opening 623 is open. This configuration allows for smooth maintenance work. The opening of the access opening 623 can be confirmed, for example, based on the results of an opening / closing sensor that detects the opening / closing of the access opening 623.

[0126] Furthermore, the feeder storage section 66 is disposed in a storage area Au above the delivery area Al in which the front delivery section 64 and the rear delivery section 65 are provided, and overlaps at least one of the front delivery section 64 and the rear delivery section 65 in a plan view from the height direction Dh (vertical direction). With this configuration, the feeder delivery device 6 (workpiece delivery device) can be configured compactly in the depth direction Dd.

[0127] Meanwhile, the robot 5 approaching the rear delivery window 631 of the feeder delivery device 6 to load or unload the feeder 3 is guided to the rear delivery window 631 by the mechanism shown in Figures 14A and 14B. Figure 14A is a perspective view showing the relationship between the robot and a guide unit that guides the robot, and Figure 14B is a diagram showing the configuration of the guide unit.

[0128] As shown in Figure 14A, the robot 5 includes a feeder magazine 51 that stores the feeders 3. The robot 5 moves while supporting the feeder magazine 51 by an unillustrated automated guided vehicle, and the feeder magazine 51 is supported so as to be movable within a predetermined range in the horizontal direction relative to the automated guided vehicle. The robot 5 also includes a guided plate 52 that protrudes from the feeder magazine 51. The guided plate 52 is a flat plate that has a rectangular shape with two rounded corners on the front side in a plan view from the height direction Dh, and protrudes from the feeder magazine 51 to the front side Dd(+) in the state shown in Figures 14A and 14B.

[0129] In contrast, the feeder delivery device 6 has a guide section 83 that guides the guided plate 52 of the robot 5. As shown in Fig. 14B, the guide section 83 is provided so as to protrude from the lower part of the rear delivery window 631 toward the rear side Dd(-). The guide section 83 has a pair of guide blocks 831 that are spaced apart in the width direction Dw.

[0130] The robot 5 controls the automated guided vehicle based on the results of detecting a marker provided near the rear delivery window 631 in the housing 61 of the feeder delivery device 6 using LiDAR (light detection and ranging) or the like. As a result, the robot 5 stops at a stop position that satisfies a predetermined positional relationship with the rear delivery window 631. For example, the stop position is set so that the robot 5 faces the rear delivery window 631 from the rear side Dd(-).

[0131] Next, when the robot 5 moves from the stopped position toward the front side Dd(+) toward the rear delivery window 631, the guided plate 52 enters the guide section 83. A pair of guide blocks 831 is provided on both sides in the width direction Dw of the entry path P52 of the guided plate 52 entering the guide section 83, and sandwiches the guided plate 52 that has entered the guide section 83 from both sides in the width direction Dw. This positions the feeder magazine 51 of the robot 5 with respect to the rear delivery window 631. The robot 5 has a transfer arm in the feeder magazine 51 that has the same configuration as the transfer arm 81 described above, and transfers the feeder 3 to and from the rear magazine 651 using this transfer arm.

[0132] With this configuration, the robot 5 can transmit a storage request and a delivery request to the server computer 100 when it stops at the stop position (steps S501 and S601). When the communication unit 92 of the feeder delivery device 6 receives a storage request or a delivery request (open command) via the server computer 100 (steps S501 and S601), the control unit 91 opens the rear door 632 (steps S503 and S609). As a result, the rear door 632 is opened for the robot 5 stopped at the stop position, and the rear magazine 651 is exposed to the robot 5 through the rear delivery window 631. When the robot 5 approaches the rear delivery window 631 from this state, the feeder magazine 51 is positioned relative to the rear magazine 651. The robot 5 then inserts and removes the feeder 3 from the rear side Dd(-) into and from the rear magazine 651, transferring the feeder 3 between the rear magazine 651 and the feeder magazine 51.

[0133] As described above, in the embodiment described above, the worker H corresponds to an example of the "first worker" of the present invention, the feeder 3 corresponds to an example of the "work" of the present invention, the front delivery unit 64 corresponds to an example of the "first delivery unit" of the present invention, the robot 5 corresponds to an example of the "second worker" of the present invention, the rear delivery unit 65 corresponds to an example of the "second delivery unit" of the present invention, the feeder storage unit 66 corresponds to an example of the "work storage unit" of the present invention, the feeder transfer unit 67 corresponds to an example of the "work transfer unit" of the present invention, and the feeder transfer device 6 corresponds to an example of the "work transfer device" of the present invention. the front delivery window 621 corresponds to an example of a "first delivery window" of the present invention, the rear delivery window 631 corresponds to an example of a "second delivery window" of the present invention, the depth direction Dd corresponds to an example of a "depth direction" of the present invention, the front wall 62 corresponds to an example of a "first wall" of the present invention, the rear wall 63 corresponds to an example of a "second wall" of the present invention, the front magazine 641 corresponds to an example of a "first workpiece holding section" of the present invention, the linear drive mechanism 73 corresponds to an example of a "first drive section" of the present invention, and the front side Dd(+) corresponds to an example of a "first drive section" of the present invention. the rear side Dd(-) corresponds to an example of the "other side" of the present invention, the delivery position Ld corresponds to an example of the "delivery position" of the present invention, the transfer position Lt corresponds to an example of the "transfer position" of the present invention, the transfer area At corresponds to an example of the "transfer area" of the present invention, the front door 622 corresponds to an example of the "first door" of the present invention, the rear magazine 651 corresponds to an example of the "second workpiece holding section" of the present invention, the rotation drive mechanism 75 corresponds to an example of the "second drive section" of the present invention, the transfer angle θt corresponds to an example of the "transfer angle" of the present invention, and the delivery angle The angle θd corresponds to an example of the "handover angle" of the present invention, the width direction Dw corresponds to an example of the "width direction" of the present invention, the rear door 632 corresponds to an example of the "second door" of the present invention, the server computer 100 corresponds to an example of the "external server" of the present invention, the communication unit 92 corresponds to an example of the "communication unit" of the present invention, the control unit 91 corresponds to an example of the "door control unit" of the present invention, the entrance / exit opening 623 corresponds to an example of the "entrance / exit opening" of the present invention, the entrance / exit door 624 corresponds to an example of the "entrance / exit door" of the present invention, and the control unit 91 corresponds to an example of the "operation control unit" of the present invention.

[0134] The present invention is not limited to the above embodiment, and various modifications can be made to the above without departing from the spirit of the present invention. For example, in the example of Fig. 12, the control unit 91 opens and closes the front door 622. However, the front door 622 may be opened and closed by the worker H. In this case, it is preferable to configure the front door 622 so that it can be locked.

[0135] 15 is a block diagram showing a modified example of the electrical configuration of the feeder delivery device. In this example, a front lock K622 (locking unit) is provided that locks or unlocks the front door 622. When the front lock K622 receives a lock command from the control unit 91, it locks the front door 622 and prohibits the worker H from opening the front door 622. When the front lock K622 receives an unlock command from the control unit 91, it unlocks the front door 622 and allows the worker H to open the front door 622.

[0136] In response to this, the control unit 91 outputs an unlock command to the front lock K622 when the front magazine 641 stops at the delivery position Ld. This causes the front lock K622 to unlock the front door 622. On the other hand, when the front magazine 641 is not stopped at the delivery position Ld, the control unit 91 outputs a lock command to the front lock K622. This causes the front lock K622 to lock the front door 622. With this configuration, the front door 622 can be unlocked only when the feeder 3 is inserted into or removed from the front magazine 641. This makes it possible to prevent the front door 622 from being opened unnecessarily.

[0137] Furthermore, the number and locations of the front delivery windows 621 and rear delivery windows 631 may be changed as appropriate, and the number and locations of the front magazines 641 and rear magazines 651 may be changed as appropriate.

[0138] Furthermore, the specific configurations of the front delivery section 64 and the rear delivery section 65 may be interchanged. That is, the front magazine 641 may be rotated by the rotary drive mechanism 75, and the rear magazine 651 may be moved linearly by the linear drive mechanism 73.

[0139] DESCRIPTION OF SYMBOLS 100...Server computer 3...Feeder 5...Robot 6...Feeder delivery device 62...Front wall 621...Front delivery window 622...Front door 623...Access opening 624...Access door 63...Rear wall 631...Rear delivery window 632...Rear door 64...Front delivery section 641...Front magazine 65...Rear delivery section 651...Rear magazine 66...Feeder storage section 67...Feeder transfer section 73...Linear drive mechanism 75...Rotational drive mechanism 91...Control section 92...Communication section At...Transfer area Dd...Depth direction Dd(+)...Front side Dd(-)...Rear side Dw...Width direction H...Worker Ld...Transfer position Lt...Transfer position θd...Transfer angle θt...Transfer angle

Claims

1. A system comprising: a first transfer unit that transfers a workpiece to or from a first work subject which is a person or a robot; a second transfer unit that transfers the workpiece to or from a second work subject which is a person or a robot; a work storage unit that stores the workpiece; and a work transfer unit that is capable of transferring the workpiece between the first transfer unit and the work storage unit and between the second transfer unit and the work storage unit, The work transfer unit is a work transfer device that can perform a first incoming response operation of transferring the work received by the first work entity from the first delivery unit to the work storage unit, a first outgoing response operation of transferring the work to be delivered to the first work entity from the work storage unit to the first delivery unit, a second incoming response operation of transferring the work received by the second work entity from the second delivery unit to the work storage unit, and a second outgoing response operation of transferring the work to be delivered to the second work entity from the work storage unit to the second delivery unit.

2. The workpiece transfer device according to claim 1, further comprising a housing that accommodates the first transfer section, the second transfer section, the workpiece storage section, and the workpiece transfer section.

3. A workpiece transfer device as described in claim 2, wherein the housing has a first transfer window and a second transfer window that open at different locations, the workpiece is transferred between the first work subject and the first transfer unit via the first transfer window, and the workpiece is transferred between the second work subject and the second transfer unit via the second transfer window.

4. A workpiece transfer device as described in claim 3, wherein the housing has a first wall portion and a second wall portion spaced apart from each other in the depth direction, the first transfer portion, the second transfer portion, the workpiece storage portion and the workpiece transfer portion are arranged between the first wall portion and the second wall portion in the depth direction, the first transfer window opens at the first wall portion, and the second transfer window opens at the second wall portion.

5. The first transfer section has a first work holding section and a first drive section that moves the first work holding section in the depth direction, the first wall section is located on one side of the second wall section in the depth direction, the second wall section is located on the other side opposite to the one side of the first wall section in the depth direction, the first work holding section accepts insertion and removal of the work from the one side but does not accept insertion and removal of the work from the other side, the first drive section moves the first work holding section between a transfer position adjacent to the first transfer window from the other side and a transfer position on the other side from the transfer position, the work transfer section performs the first loading corresponding operation and the first retrieval corresponding operation in a transfer area provided between the transfer position and the transfer position in the depth direction, the first work entity inserts and removes the work from the one side of the first work holding section that is stopped at the transfer position via the first transfer window, 5. The workpiece transfer device according to claim 4, wherein the workpiece transfer unit faces the first workpiece holding unit, which stops at the transfer position during the first loading corresponding operation, from the one side to extract the workpiece from the first workpiece holding unit, and faces the first workpiece holding unit, which stops at the transfer position during the first unloading corresponding operation, from the one side to insert the workpiece into the first workpiece holding unit.

6. A workpiece transfer device according to claim 5, wherein the housing has a first door for opening and closing the first transfer window.

7. A workpiece transfer device as described in claim 6, further comprising a locking unit that locks the first door, wherein the locking unit unlocks the first door when the first workpiece holding unit stops at the transfer position, and locks the first door when the first workpiece holding unit does not stop at the transfer position.

8. A workpiece transfer device according to any one of claims 5 to 7, which moves from the one side to a position opposite the first workpiece holding portion in response to the first workpiece holding portion stopping at the transfer position.

9. The second transfer section has a second workpiece holding section adjacent to the second transfer window from the one side on the other side of the transfer area in the depth direction, and a second drive section that rotates the second workpiece holding section in a horizontal direction, the second workpiece holding section having an insertion / removal side end and a non-insertion / removal side end opposite to the insertion / removal side end, and accepting insertion and removal of the workpiece from the insertion / removal side end and not accepting insertion and removal of the workpiece from the non-insertion / removal side end, the second drive section rotates the second workpiece holding section between a transfer angle at which the insertion / removal side end faces the one side and a transfer angle at which the insertion / removal side end faces the other side, the second worker inserts and removes the workpiece from the other side of the second workpiece holding section stopped at the transfer angle through the second transfer window, 9. The workpiece transfer device according to claim 5, wherein the workpiece transfer unit faces the second workpiece holding unit, which stops at the transfer angle during the second loading corresponding operation, from the one side to extract the workpiece from the second workpiece holding unit, and faces the second workpiece holding unit, which stops at the transfer angle during the second unloading corresponding operation, from the one side to insert the workpiece into the second workpiece holding unit.

10. A workpiece transfer device as described in claim 9, wherein the second workpiece holding unit is positioned offset in a width direction perpendicular to the depth direction from the movement path of the first workpiece holding unit that moves between the transfer position and the transfer position.

11. The first wall portion is located on one side of the second wall portion in the depth direction, and the second wall portion is located on the other side opposite to the one side of the first wall portion in the depth direction, and the second delivery portion has a second work holding portion adjacent to the second delivery window from the one side, and a second drive portion that rotates the second work holding portion in a horizontal direction, and the work transfer portion performs the second loading corresponding operation and the second retrieval corresponding operation in a transfer area provided on the one side of the second work holding portion in the depth direction, and the second work holding portion has an insertion / removal side end and a non-insertion / removal side end opposite to the insertion / removal side end, and accepts insertion and removal of the work from the insertion / removal side end but does not accept insertion and removal of the work from the non-insertion / removal side end, and the second drive portion rotates the second work holding portion between a transfer angle at which the insertion / removal side end faces the one side and a delivery angle at which the insertion / removal side end faces the other side, 5. The work transfer device according to claim 4, wherein the second work entity inserts and removes the work from the second work holding unit stopped at the transfer angle from the other side through the second transfer window, and the work transfer unit faces the second work holding unit stopped at the transfer angle from the one side during the second loading corresponding operation to remove the work from the second work holding unit, and faces the second work holding unit stopped at the transfer angle from the one side during the second unloading corresponding operation to insert the work into the second work holding unit.

12. A workpiece transfer device according to any one of claims 9 to 11, which moves from the one side to a position facing the second workpiece holding unit in response to the second workpiece holding unit stopping at the transfer angle.

13. A workpiece transfer device according to any one of claims 4 to 12, further comprising a second door for opening and closing the second transfer window.

14. A workpiece transfer device as described in claim 13, further comprising: a communication unit that communicates with an external server; a detection unit that outputs a detection signal when it detects that the second work subject is approaching the second door; and a door control unit that controls opening and closing of the second door based on a command received by the communication unit from the external server, wherein the second work subject is a robot; the external server sends an open command to the communication unit requesting that the second door be opened in response to a request from the robot; and the door control unit opens the second door when the communication unit receives the open command and the detection unit outputs the detection signal.

15. A workpiece transfer device according to any one of claims 4 to 14, wherein the housing has an entrance opening for a person to enter the housing, and an entrance door for opening and closing the entrance opening.

16. A workpiece transfer device according to claim 15, wherein the access opening is provided in the first wall portion.

17. A workpiece transfer device as described in claim 15 or 16, further comprising an operation control unit that controls the operation of the first transfer unit, the second transfer unit, and the workpiece storage unit, wherein the operation control unit prohibits the operation of the first transfer unit, the second transfer unit, and the workpiece storage unit when the access door is opened.

18. A workpiece transfer device as described in any one of claims 1 to 17, wherein the workpiece storage section is positioned above the first transfer section and the second transfer section and overlaps at least one of the first transfer section and the second transfer section when viewed in a vertical plane.

19. A system comprising: a step of transferring a workpiece between a first working subject, which is a person or a robot, and a first transfer section; a step of transferring the workpiece between a second working subject, which is a person or a robot, and a second transfer section; a step of transferring the workpiece between a work storage section that stores the workpiece and the first transfer section by a work transfer section; and a step of transferring the workpiece between the work storage section and the second transfer section by a work transfer section. The work transfer unit is capable of performing a first inbound response operation of transferring the work received by the first work entity from the first delivery unit to the work storage unit, a first outbound response operation of transferring the work to be delivered to the first work entity from the work storage unit to the first delivery unit, a second inbound response operation of transferring the work received by the second work entity from the second delivery unit to the work storage unit, and a second outbound response operation of transferring the work to be delivered to the second work entity from the work storage unit to the second delivery unit.

Images