JP2008012597A - Apparatus and method for assembling - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus and a method for assembling, by which apparatus and method, assembling accuracy of components can be furthermore improved. <P>SOLUTION: The apparatus for assembling comprises a positioning device 76 which pushes up a workpiece W from below in the direction of the gravity and carries out the positioning of the workpiece W in the direction of the gravity, a collet 36 which puts a component P on the workpiece W positioned by the positioning device 76 from above in the direction of the gravity, a measuring device for measuring the position of the workpiece W, and a control device for controlling the positioning device 76 based on the result measured by the measuring device. The control device controls the positioning device 76 such that the position of the workpiece W becomes a predetermined position in the direction of the gravity. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an assembling apparatus and an assembling method that are used, for example, for assembling machine parts, electronic parts, and the like, and places an object to be placed such as parts on a workpiece from above in the direction of gravity.

  Techniques relating to this type of assembling apparatus and assembling method are known in which an object to be placed such as a component is placed on a workpiece from above in the direction of gravity (Patent Documents 1 and 2).

JP 2005-123581 A JP 2005-81406 A

  However, in the prior art, for example, the position where the work is placed on the work may be displaced from the reference position in the direction of gravity due to variations in the shape of the work. As a result, there is a problem that the assembling accuracy may be lowered in the assembling apparatus and the assembling method without the object to be placed on the work well.

  It is an object of the present invention to provide an assembling apparatus and an assembling method that can solve the above problems and can further improve the assembling accuracy.

  In order to solve the above-described problem, the first feature of the present invention is that a workpiece is pushed up from below in the direction of gravity and positioned in the direction of gravity of the workpiece, and the workpiece positioned by the positioning unit is moved to gravity. The assembling apparatus has mounting means for mounting an object to be mounted from above in the direction.

  Preferably, the apparatus further includes measuring means for measuring the position of the workpiece in the direction of gravity, and control means for controlling the positioning means based on a measurement result by the measuring means.

  Preferably, the control means controls the positioning means so that the position of the workpiece positioned by the positioning means in the gravitational direction is a predetermined position.

  Preferably, the apparatus further comprises storage means for storing position information of a plurality of workpieces in the direction of gravity, and the control means is configured based on the position information of the plurality of works stored in the storage means. The positioning means is controlled so that the position where the work is placed on the work is substantially the same in the direction of gravity.

Preferably, it further has a support means for supporting one end side in the longitudinal direction of the workpiece,
The positioning means pushes up the other end of the workpiece from below in the direction of gravity.

  Preferably, the apparatus further includes support means for supporting one end side in the longitudinal direction of the work, and the placing means places the object to be placed on the other end side of the work.

Preferably, the support means can support a plurality of workpieces.

  Preferably, the apparatus further includes conveying means for conveying the workpiece from a measurement position where the position is measured by the measuring means to a positioning position where the positioning means is positioned.

  Preferably, the placing means places an object to be placed on a work positioned at a positioning position where positioning by the positioning means is performed.

  Further, the second feature of the present invention is that the workpiece is positioned in the gravity direction by being pushed up by the positioning means from below in the gravitational direction. There is an assembly method of mounting.

  According to the present invention, an assembling apparatus and an assembling method capable of further improving the assembling accuracy are provided.

Next, embodiments of the present invention will be described with reference to the drawings.
1 and 3 show an assembly apparatus 10 according to an embodiment of the present invention. The assembling apparatus 10 has a base 12 installed on the installation surface, and a movable base 14 is provided on the base 12.

  The movable table 14 is formed with a protruding portion 16 having a shape protruding downward, and the protruding portion 16 is fitted into a groove (not shown) in the y-axis direction formed on the upward surface 12 a of the base 12. As shown in FIG. For this reason, the movable table 14 is guided by the groove, and can move in the y-axis direction on the surface 12a. A feed screw 18 is engaged with the protruding portion 16. The feed screw 18 is rotatably supported by the base 12 so that the axial direction (longitudinal direction) is the y-axis direction. A y-axis motor 20 attached to the base 12 is connected to the left end of the feed screw 18 in FIG. Therefore, by rotating the y-axis motor 20, the drive is transmitted to the projecting portion 16 via the feed screw 18, and the movable base 14 moves in the y-axis direction. Which direction of the y-axis is to be moved can be determined by controlling the direction of rotation of the y-axis motor 20.

  On the upward surface of the movable table 14, a workpiece support device 22 used as a support means for supporting the workpiece W is detachably attached to the movable table 14. The work support device 22 is attached to the movable base 14 so that a part of the work support device 22 protrudes downward (in the x-axis direction) in FIG. 1, and the plurality of works W are supported by the protruded parts. A workpiece W that has not been processed such as assembly is mounted on the workpiece support device 22, and the workpiece W that has been processed is removed from the workpiece support device 22. The mounting of the workpiece W on the workpiece support device 22 and the removal from the workpiece support device 22 may be performed using a mounting device (not shown) made of, for example, a robot, or may be performed manually by an operator. Details of the work support device 22 will be described later.

A component table 24 on which a plurality of components P used as a mounted object are arranged is attached to the upward surface of the movable table 14.

  As described above, the workpiece support device 22 and the parts table 24 are mounted on the upward surface of the movable table 14. For this reason, by controlling the y-axis motor 20, the workpiece support device 22 and the parts table 24 can be moved in the y-axis direction integrally with the movable table 14.

  A movable base 14 is mounted on the base 12 and a support 26 is fixed. A movable unit 28 is attached to the column 26 so as to be movable in the x-axis direction with respect to the column 26. The movable unit 28 has a support portion 30 located on the left side in FIG. The support portion 30 is supported by the support column 26 so as to be movable in the x-axis direction, and a feed screw 32 is engaged with the support portion 30. The feed screw 32 is rotatably attached to the support column 26 so that the axis direction is the x-axis direction.

  One end of the feed screw 32 is connected to an x-axis motor 34 attached to the column 26 side. Therefore, when the x-axis motor 34 is rotated, the drive of the x-axis motor 34 is transmitted to the support portion 30 via the feed screw 32, and the movable unit 28 moves in the x-axis direction. Which direction in the x-axis direction the movable unit 28 is moved can be determined by controlling the rotation direction of the x-axis motor 34.

  A collet support member 38 is attached to the movable unit 28. The collet support member 38 has a downward surface and supports a collet 36 used as a mounting means. A dispenser 60 is attached to the collet support member 38. The collet support member 38 is engaged with a feed screw 40, and the feed screw 40 is attached to the movable unit 28 so that the axial direction (longitudinal direction) is the z-axis direction. The upper end of the feed screw 40 is connected to a collet z-axis motor 42 used as a drive source.

Therefore, when the collet z-axis motor 42 is rotated, the drive is transmitted to the collet support member 38 via the feed screw 40, and the collet support member 38, the collet 36 supported by the collet support member 38, and the dispenser 60 are connected. Move in the z-axis direction.

  A rotating member 44 is provided between the collet support member 38, the collet 36 and the dispenser 60. That is, the rotating member 44 is attached to the collet support member 38, and the collet 36 is attached to the rotating member 44. The rotating member 44 is connected to the θ-axis motor 46 and is capable of rotating in the zy plane with respect to the collet support member 38 under the driving of the θ-axis motor 46.

  A suction pump 50 is connected to the collet 36 via a collet valve 48, and the collet 36 holds the component P by suction by the suction pump 50. Details of the collet 36 will be described later.

  The dispenser 60 is used as an adhesive supply means for supplying an adhesive to the workpiece W, and an adhesive tank 64 used as an adhesive collecting means for collecting the adhesive through the adhesive valve 62. Is connected.

  The movable unit 28 is attached with a detection device 52 used as detection means for detecting the positions of the component P and the workpiece W. The detection device 52 includes a photographing unit 54 made of, for example, a CCD camera, and a lens unit 56 provided below the photographing unit 54. The detection device 52 can move up and down with respect to the movable unit 28 independently of the collet support member 38, and a detection device z-axis motor 58 is attached thereto. The detection device z-axis motor 58 is used to move the detection device 52 in the z-axis direction with respect to the movable unit 28, and the imaging device 54 is focused on the component P by moving the detection device 52 up and down. Like that.

  As described above, the collet 36 and the dispenser 60 are attached to the rotating member 44, and the rotating member 44 is attached to the collet support member 38 so as to be capable of rotational movement in the xy plane, and the collet support member 38 is attached to the movable unit 28. The movable unit 28 is attached to the support column 26 so as to be movable in the x-axis direction. Therefore, by controlling the x-axis motor 34, the collet z-axis motor 42, and the θ-axis motor 46, the collet support member 38 and the collet 36 and the dispenser 60 can be moved in the x-axis direction and the z-axis direction. It can be moved in the yz plane. In addition, as described above, the work support device 22 is attached to the movable table 14, and the movable table 14 can be moved in the y-axis direction by controlling the y-axis motor 20. Therefore, by controlling the y-axis motor 20, the x-axis motor 34, the collet z-axis motor 42, and the θ-axis motor 46, the relative positional relationship between the workpiece W and the component P supported by the collet 36 is changed. Thus, the part P supported by the collet 36 can be conveyed to the workpiece W. Similarly, the relative positional relationship between the workpiece W and the dispenser 60 can be changed to move the dispenser 60 to a position where adhesive can be applied to the workpiece W. Details of the control of the y-axis motor 20, the x-axis motor 34, the collet z-axis motor 42, and the θ-axis motor 46 will be described later.

  The base 12 is provided with a measuring device 70 used as a measuring means. The measuring device 70 measures the height of the plurality of workpieces W supported by the workpiece support device 22 with respect to the base 12, that is, the position in the direction of gravity. A non-contact type measuring device capable of measuring the height of the workpiece W while maintaining a state where it does not contact is used.

  The base 12 is provided with irradiation devices 72 and 72 used as adhesive curing means. Each of the irradiation devices 72 and 72 includes a single lens or a plurality of lenses, and is connected to a generation device 74 that generates ultraviolet rays using, for example, optical fibers 75 and 75. The ultraviolet rays emitted from the generator 74 are collected at approximately one point by the lenses of the irradiation devices 72 and 72. Therefore, if a work W coated with an adhesive of a type that is cured by being irradiated with ultraviolet rays is disposed at a place where the ultraviolet rays are collected, the adhesive can be cured. In addition, when using a thing other than ultraviolet curable as an adhesive agent, what can generate | occur | produce the light etc. which harden the adhesive agent as the generator 74 according to the kind of adhesive agent to be used is selected. Used. In addition, when an adhesive that is cured by irradiation with light rays or the like is not used as the adhesive, it is not necessary to provide the irradiation devices 72 and 72, the optical fibers 75 and 75, and the generator 74.

  The base 12 is provided with a positioning device 76 used as positioning means for positioning the workpiece W in the gravity direction in the vicinity of the position where the ultraviolet rays are collected by the irradiation devices 72, 72. A positioning motor 86 made of, for example, a servo motor is connected to the positioning device 76. Details of the positioning device 76 will be described later.

  In addition, the base 12 is provided with a detection device 84 used as detection means for detecting the position of the workpiece W, for example, so as to be positioned below the positioning device 76 in the direction of gravity. As the detection device 84, for example, a CCD camera or the like is used.

  In FIG. 4, a collet 36 is shown. The collet 36 has a collet body 90, and a gas flow path 92 is formed in the collet body 90. The gas flow path 92 communicates with the outside of the collet main body 90 through a connection port 94 and an intake port 96, and the suction pump 50 is connected to the connection port 94 via a collet valve 48. For this reason, when the suction pump 50 is in a movable state in which intake is performed and the collet valve 48 is opened, intake is performed from the intake port 96. In addition, by controlling the y-axis motor 20, the x-axis motor 34, the collet z-axis motor 42, and the θ-axis motor 46, the intake port 96 is positioned near the component P placed on the component table 24. Then, when intake is performed from the intake port 96, the component P is sucked into the intake port 96, and the component P is held by the collet 36. If the collet valve 48 is closed from the state where the component P is held, the intake from the intake port 96 is stopped and the component P is separated from the collet body 90.

  FIG. 5 shows the workpiece support device 22. The work support device 22 includes a lower member 100 that is detachably supported by the movable base 14 (see FIG. 1), and an opening / closing member 104 that is supported on the lower member 100 by a hinge 102 so as to be freely opened and closed. For example, the work support device 22 supports the work W by sandwiching one end side of the work W between the lower member 100 and the opening / closing member 104. The workpiece support device 22 can support a plurality of workpieces, for example, can support ten workpieces.

  FIG. 6 shows a positioning device 76. The positioning device 76 pushes up the other end of the workpiece W supported at one end by the workpiece support device 22 from below in the direction of gravity, and a moving mechanism 80 attached to the push-up member 78 to move the push-up member 78 up and down. And have. The aforementioned positioning motor 86 is connected to the moving mechanism 80, and the moving mechanism 80 moves up and down in response to drive transmission from the positioning motor 86. For example, the workpiece W is pushed up as shown in FIG. 6B by raising the moving mechanism 80 and the push-up member 78 by driving the positioning motor 86 from the position shown in FIG.

  FIG. 7 shows a control device 120 included in the assembly device 10. The control device 120 includes a main control unit 122, and an output from the image recognition device 124 that recognizes an image captured by the detection device 52 or the detection device 84 is input to the main control unit 122. Further, the main control unit 122 is input with position information (height information) of the workpiece W in the direction of gravity measured by the measuring device 70, and a memory chip 126 used as a storage unit is connected. . The main control unit 122 controls the y-axis motor 20, the x-axis motor 34, the collet z-axis motor 42, and the θ-axis motor 46 by controlling the motor control unit 128. In addition, the main control unit 122 controls the irradiation device 72 by controlling the irradiation device driving circuit 130. The main control unit 122 controls the valve drive circuit 132 to control the collet valve 48 and the adhesive valve 62. The main control unit 122 controls the z-axis motor 58 for the detection device by controlling the motor control unit 134. The main control unit controls the positioning motor 86 by controlling the motor control unit 136.

  FIG. 8 shows an outline of the operation of the assembling apparatus 10 controlled by the control apparatus 120. FIG. 9 shows the state of the assembling apparatus 10 in each process of assembling. When the assembly process is started with the workpiece support device 22 supporting one or more workpieces W set on the movable base 14, as shown in FIG. 8, first, in step S100, the workpiece support device 22 The height of the workpiece W supporting the one end side is measured. In the next step S200, an adhesive is applied to one or more workpieces W whose height has been measured. In the next step S300, the collet 36 picks up the part P to be transferred to the workpiece W to which the adhesive has been applied and to be assembled to the workpiece W. In the next step S400, the adhesive is irradiated with ultraviolet rays in order to cure the adhesive applied to the workpiece W in step S200. Then, in the next step S500, the component P that is attracted to the collet 36 is assembled to the work W on which the applied adhesive is being hardened by being irradiated with ultraviolet rays. In step S600, it is determined whether or not the parts P are assembled to all the workpieces W supported by the workpiece support device 22, and it is determined that the assembly of the components P to all the workpieces W is completed. If so, the series of assembly steps ends. On the other hand, when it is determined that the parts P are not assembled to all the workpieces W, the process returns to step S200, and the parts are assembled to the workpiece W where the parts P are not assembled.

  FIG. 10 shows a control flow in the height measurement process for measuring the height of the workpiece W. When the height measurement process starts, the main control unit 122 controls the y-axis motor 20, the x-axis motor 34, and the θ-axis motor 46 in step S102, and the measuring device 70 measures the height of the workpiece W. Move to the measurement position. When the movement in step S102 is completed, as shown in FIG. 9A, there is nothing between the measuring device 70 and the workpiece W that hinders measurement by the measuring device 70. In FIG. 9, an example in which the workpiece support device 22 supports one workpiece W is illustrated, but a plurality of workpieces W may be supported by the workpiece support device 22.

  In the next step S104, the height of the workpiece W is measured by the measuring device 70, for example, using the upward surface of the base 12 as a reference. The position at which the height of the workpiece W is measured is a position at which the component P is placed and assembled, and the height of the end portion side with respect to the one end side supported by the workpiece support device 22 is measured. . The measurement result is stored in the memory chip 126.

  In the next step S106, it is measured whether or not the heights of all the workpieces of the workpiece W supported by the workpiece support device 22 have been measured. If it is determined in step S106 that the height measurement of all the workpieces W has been completed, the height measurement process ends. When a plurality of workpieces W are supported on the workpiece support device 22, the measurement results (position information) regarding the plurality of workpieces W are stored in the memory chip 126 at the time when step S <b> 106 is completed. On the other hand, when it is determined that the height measurement of all the workpieces W has not been performed, the process returns to step S102 and the height measurement of the workpieces W is continued.

  FIG. 11 shows a control flow in an application process in which an adhesive is applied to the workpiece W whose height has been measured in the measurement process. When the application process starts, in step S202, the main control unit 122 controls the y-axis motor 20, the x-axis motor 34, and the θ-axis motor 46 so that the workpiece W is positioned below the dispenser 60. In this manner, the workpiece W and the dispenser 60 are moved.

  In the next step S204, the main control unit 122 is positioned at an optimum place for applying the adhesive by the dispenser 60 based on the data detected by the detection device 52 and recognized by the image recognition device 124. The position correction data of the workpiece W is created as necessary.

  In the next step S206, the main control unit 122 controls the y-axis motor 20, the x-axis motor 34, and the θ-axis motor 46 as necessary on the basis of the position correction data created in step S204. The positional relationship between W and the dispenser 60 is corrected.

  In the next step S208, the main controller 122 lowers the dispenser 60, moves the dispenser 60 to a position close to or in contact with the workpiece W, and then controls the adhesive valve 62 to bring it to a predetermined position on the workpiece W. Apply a predetermined amount of, for example, an ultraviolet curable adhesive. Note that any adhesive may be used as long as it can bond the workpiece W and the component P, and another adhesive may be used instead of the ultraviolet curable adhesive.

  In the next step S210, it is determined whether or not the adhesive has been applied to all the workpieces W supported by the workpiece support device 22, and whether or not the adhesive has been applied to all the workpieces W. When the determination is made, the adhesive application process is terminated. On the other hand, when it is determined that the adhesive is not applied to all the workpieces W, the process returns to step S202 and the adhesive is continuously applied to the workpieces W.

  FIG. 12 shows a control flow in an adsorption process in which the part P to be assembled to the workpiece W coated with adhesive is adsorbed by the collet 36. When the suction process starts, the main control unit 122 controls the y-axis motor 20, the x-axis motor 34, and the θ-axis motor 46 in step S302, so that the collet 36 is positioned above the parts table 24. Thus, the collet 36 and the movable base 14 are moved.

  In the next step S304, the main control unit 122 confirms the position of the component P placed on the component table 24 based on the data detected by the detection device 52 and recognized by the image recognition device 124, and is necessary. Accordingly, correction data for correcting the relative positional relationship between the collet 36 and the part P is created.

  In the next step S306, the main control unit 122 controls the y-axis motor 20, the x-axis motor 34, and the θ-axis motor 46 as necessary based on the correction data created in step S304, and the collet 36. Is corrected so that the part P is positioned directly below the collet 36.

  In the next step S308, the main control unit 122 lowers the collet 36 and moves the collet 36 to a position close to or in contact with the part P, and then controls the collet valve 48 to place the part P on the collet 36. Adsorb.

  FIG. 13 shows a control flow in the irradiation step of irradiating the ultraviolet curable adhesive applied to the workpiece W with ultraviolet rays in the above-described adhesive application step. When the irradiation process starts, in step S402, the main control unit 122 controls the y-axis motor 20, the x-axis motor 34, and the θ-axis motor 46 to irradiate the workpiece W as shown in FIG. 9B. The device 72 is moved to a position where ultraviolet rays are emitted by the device 72.

  In the next step S <b> 404, the main control unit 122 controls the irradiation device driving circuit 130 to cause the irradiation devices 72 and 72 to start ultraviolet irradiation to the ultraviolet curable adhesive applied to the workpiece W. In addition, when using an adhesive other than an ultraviolet curable adhesive as an adhesive, instead of irradiating with ultraviolet light, irradiation with light rays or the like for curing the adhesive is performed according to the type of adhesive used. Made. Moreover, when using adhesives other than the kind of adhesive agent which hardens | cures by irradiation of a light ray etc., a series of processes which irradiate a light ray etc. are unnecessary.

  FIG. 14 shows a control flow in an assembling process for assembling the part P to the workpiece W. When the assembly process starts, in step S502, the main control unit 122 controls the y-axis motor 20, the x-axis motor 34, and the θ-axis motor 46 so that the workpiece W is positioned above the positioning device 76. At the same time, the collet 36 is moved so that the collet 36 is positioned further above the workpiece W. At this time, as described above, the collet 36 is in a state in which the component P is adsorbed, and the workpiece W is in a state in which, for example, the applied adhesive is being cured by being irradiated with ultraviolet rays. At the time point when the movement in step S502 is completed, as shown in FIG. 9B, the part P, the workpiece W, and the positioning device 76 adsorbed on the collet 36 are sequentially arranged in the vertical direction from the upper side in the gravity direction. It will be in a state of being aligned.

  In the next step S504, the main control unit 122 confirms the position of the workpiece W based on the data detected by the detection device 84 and processed by the image recognition device 124. In this step, since the detection device 84 positioned below the workpiece W is used, the component P is positioned above the workpiece W, but the component P does not get in the way and the position of the workpiece W can be confirmed satisfactorily. Done.

  In the next step S506, the main control unit 122 confirms the position of the component P based on the data detected by the detection device 52 and processed by the image recognition device 124. In this step, since the detection device 52 located above the part P is used, the work W is located below the part P, but the work W does not get in the way and the position confirmation of the part P is good. To be done.

  In the next step S508, the main control unit 122 controls the motor control unit 128 to drive the positioning motor 86, and moves the push-up member 78 together with the moving device 82 upward in the gravity direction. When the moving device 82 moves upward, as shown in FIG. 9C and FIG. 6B, the part P is on the opposite side of the end supported by the work supporting device 22 of the work W. Is positioned so that the portion on which is placed is pushed up by the push-up member 78 from below in the direction of gravity.

  In step S508, the amount by which the moving device 82 pushes up the work W is determined so that the position of the work W in the direction of gravity is a predetermined position. That is, the position of the workpiece W is determined based on the measurement value (position information) measured by the measuring device 70 and stored in the memory chip 126 in the height measuring step for measuring the height of the workpiece W. The main controller 122 calculates the amount by which the positioning device 76 is raised so that the motor controller 136 and the positioning motor 86 are controlled based on the calculated values. For this reason, even if the position of each work W in the direction of gravity is not constant, for example, due to variations in the shape of the work W, bending due to the work W being supported by the work support device 22 in a cantilever manner, By being pushed up by the moving device 82, the position of the workpiece W in the direction of gravity becomes substantially constant.

  In the next step S510, the main control unit 122 controls the collet z-axis motor 42 to lower the collet 36 to a position where the part P in a state of being sucked by the collet 36 contacts or approaches the workpiece W. Thereafter, the valve drive circuit 132 is controlled to stop the suction of the part P by the collet 36, so that the part P is separated from the collet 36 and placed on the surface of the workpiece W facing upward in the weight direction as shown in FIG. Put. The component P placed on the workpiece W is fixed to the workpiece W by, for example, an ultraviolet curable adhesive that is being cured, and is assembled to the workpiece W. At this time, since the position of the workpiece W in the gravity direction is controlled to be substantially constant in step S508, the workpiece W is not easily displaced from the reference position of the position where the component P is placed. The assembly system of parts P against W can be improved.

  As described above, the present invention can be applied to an assembling apparatus and an assembling method for assembling an object to be placed such as a machine part and an electronic fixture on a work.

It is a top view which shows the assembly apparatus which concerns on embodiment of this invention. It is a front view which shows the assembly apparatus which concerns on embodiment of this invention. It is a rear view which shows the assembly apparatus which concerns on embodiment of this invention. It is sectional drawing which shows the collet used for embodiment of this invention. It is a perspective view which shows the workpiece | work support apparatus used for embodiment of this invention. It is explanatory drawing explaining the structure and operation | movement of a positioning device used for embodiment of this invention. It is a block diagram which shows the control apparatus used for embodiment of this invention. It is a flowchart which shows operation | movement of the assembly apparatus which concerns on embodiment of this invention. FIG. 9A is a perspective view showing a state in which the height of the workpiece is measured, and FIG. 9B is a perspective view showing the state of the assembly apparatus according to the embodiment of the present invention. FIG. 9C is a perspective view showing a state in which the workpiece is pushed up by the push-up member, and FIG. 9D is a state in which the component is placed on the ward. It is a perspective view shown. It is a flowchart which shows the operation | movement in the height measurement process of the assembly apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation | movement in the application process of the assembly apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation | movement in the adsorption | suction process of the assembly apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation | movement in the irradiation process of the assembly apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation | movement in the assembly | attachment process of the assembly apparatus which concerns on embodiment of this invention.

Explanation of symbols

10 assembly device 36 collet 42 collet z-axis motor 46 θ-axis motor 48 collet valve 52 sensing device 58 sensing device z-axis motor 70 measuring device 76 positioning device 78 push-up member 82 moving device 84 sensing device 86 positioning motor 120 control Device 122 Main control part P Parts W Workpiece

Claims (10)

Positioning means for pushing up the workpiece from below in the direction of gravity and positioning the workpiece in the direction of gravity;
Placing means for placing an object to be placed on the work positioned by the positioning means from above in the direction of gravity;
The assembly apparatus characterized by having. Measuring means for measuring the position of the workpiece in the direction of gravity;
Control means for controlling the positioning means based on the measurement result by the measuring means;
The assembly apparatus according to claim 1, further comprising:   3. The assembling apparatus according to claim 2, wherein the control unit controls the positioning unit so that a position of the workpiece positioned by the positioning unit in a gravitational direction is a predetermined position. A storage means for storing position information of the plurality of workpieces in the direction of gravity;
The control means controls the positioning means based on the position information of the plurality of workpieces stored in the storage means so that the positions on which the workpieces are placed are substantially the same in the direction of gravity. 4. The positioning device according to claim 1, wherein the positioning device is controlled. It further has a support means for supporting one end side in the longitudinal direction of the workpiece,
The positioning device according to claim 1, wherein the positioning unit pushes up the other end side of the work from below in the direction of gravity. It further has a support means for supporting one end side in the longitudinal direction of the workpiece,
The positioning device according to any one of claims 1 to 4, wherein the placing means places an object to be placed on the other end side of the workpiece.   The positioning device according to claim 5 or 6, wherein the support means can support a plurality of workpieces.   The positioning apparatus according to claim 1, further comprising a conveying unit that conveys a workpiece from a measurement position where the position is measured by the measuring unit to a positioning position where the positioning unit performs positioning.   The positioning device according to any one of claims 1 to 8, wherein the placing means places an object to be placed on a workpiece positioned at a positioning position where positioning by the positioning means is performed.   An assembly method characterized in that a workpiece is positioned in the direction of gravity by pushing up from below in the direction of gravity by a positioning means, and an object to be placed is placed on the workpiece positioned in the direction of gravity from above in the direction of gravity.

Images