Work hanging apparatus and work hanging method for hanging work on hanger through movement of work under correction

A work hanging apparatus comprising:na hanger line that continuously conveys a plurality of hangers each having a hook;a robot that has a movable hand with which a work having a hole is held and transfers the held work to a hanging location set in the hanger line;a controller that controls a movement of the hand to catch the hook of a given one of the hangers as a target hanger with the hole of the work at the hanging location for hanging the work on the target hanger;a hole deviation detector that detects a positional deviation of the hole of the work with respect to a reference hole position while the work is held by the hand of the robot and before hanging of the work on the target hanger;an attitude deviation detector that detects an attitudinal deviation of the target hanger with respect to a reference hanger attitude defining a hook of a reference hanger to be allowed to be caught with a hole of a reference work in the reference hole position at the hanging location before hanging the work on the target hanger; anda corrector that corrects the movement of the hand controlled by the controller according to the detected positional deviation of said work that is held by the hand of the robot and the attitudinal deviation of said target hanger so that the hole of the work that is held by the hand of the robot correctly catches the hook of the target hanger at the hanging location.

A work hanging method of holding a work having a hole that is held by a hand of a robot and transferring the work that is held by the hand of the robot with a movement of the hand of the robot to a hanging location set in a hanger line that continuously conveys a plurality of hangers each having a hook, and at the hanging location, catching the hook of a given one of the hangers as a target hanger with the hole of the work, the method comprising:ndetecting a positional deviation of the hole of the work with respect to a reference hole position while the work is held by the hand of the robot and before hanging of the work on the target hanger;detecting an attitudinal deviation of the target hanger with respect to a reference hanger attitude defining a hook of a reference hanger to be allowed to be caught with a hole of a reference work in the reference hole position at the hanging location before hanging the work on the target hanger; andcorrecting a movement of the work according to the detected positional deviation of said work that is held by the hand of the robot and the attitudinal deviation of said target hanger so that the hole of the work that is held by the hand of the robot correctly catches the hook of the target hanger at the hanging location.

A work hanging apparatus comprising:na hanger line that continuously conveys a plurality of hangers each having a hook;a robot that has a movable hand with which a work having a hole is held and transfers the held work to a hanging location set in the hanger line;a controller that controls a movement of the hand to catch the hook of a given one of the hangers as a target hanger with the hole of the work at the hanging location for hanging the work on the target hanger;a hole deviation detector that detects a positional deviation of the hole of the work with respect to a reference hole position before hanging the work on the target hanger;an attitude deviation detector that detects an attitudinal deviation of the target hanger with respect to a reference hanger attitude defining a hook of a reference hanger to be allowed to be caught with a hole of a reference work in the reference hole position at the hanging location before hanging the work on the target hanger, the attitude deviation of the target hanger being detected at an attitude detecting location that is set in front of the hanging location;a corrector that corrects the movement of the hand controlled by the controller according to the detected positional deviation and attitudinal deviation so that the hole of the held work correctly catches the hook of the target hanger at the hanging location; anda guide unit that guides the target hanger conveyed from the attitude detecting location to the hanging location while maintaining the attitude of the target hanger without change, the guide unit extending from the attitude detecting location to the hanging location and guiding the target hanger from the attitude detecting location to the hanging location in synchronization with the hanger line, in whichneach hanger is suspended from the hanger line, the attitude deviation detector includes a detecting location arranged in an intermediate area corresponding to an intermediate part in a suspending direction of the target hanger and a deviation sensor arranged in an lower area corresponding to a lower part in the suspending direction of the target hanger, and when the detecting location sensor senses the target hanger, the deviation sensor detects an attitudinal deviation of the hook of the target hanger at the lower part thereof with respect to a master hanger position defining a hook of a reference hanger at a lower part thereof that involves no attitudinal deviation as the attitudinal deviation of the target hanger.

A work hanging apparatus comprising:na hanger line that continuously conveys a plurality of hangers each having a hook, each hanger being suspended from the hanger line;a robot that has a movable hand with which a work having a hole is held and transfers the held work to a hanging location set in the hanger line;a controller that controls a movement of the hand to catch the hook of a given one of the hangers as a target hanger with the hole of the work at the hanging location for hanging the work on the target hanger;a hole deviation detector that detects a positional deviation of the hole of the work with respect to a reference hole position before hanging the work on the target hanger;an attitudinal deviation detector that detects at an attitude detecting location that is set in front of the hanging location an attitudinal deviation of the target hanger with respect to a reference hanger attitude defining a hook of a reference hanger to be allowed to be caught with a hole of a reference work in the reference hole position at the hanging location before hanging the work on the target hanger;a corrector that corrects the movement of the hand controlled by the controller according to the detected positional deviation and attitudinal deviation so that the hole of the held work correctly catches the hook of the target hanger at the hanging location; anda guide unit that guides the target hanger conveyed from the attitude detecting location to the hanging location while maintaining the attitude of the target hanger without change, the guide unit extending from the attitude detecting location to the hanging location and guiding the target hanger from the attitude detecting location to the hanging location in synchronization with the hanger line.