JPH06226568A - Parts assembly equipment by multi-arm robot - Google Patents

Abstract

(57) [Summary] [Purpose] The objective is to provide a parts assembling apparatus capable of gradually expanding the scale in accordance with market movements. [Structure] Index table 3 that can be rotated in the forward and reverse directions,
The parts supply devices 8 and 9, the transfer device 11, the transfer device 14, the parts processing device 10 and the parts storage device 7 are arranged around the parts supply position of the parts supply devices 8 and 9, and all on the index table 3. A plurality of ceiling-mounted robots 4 are arranged from the ceiling surface above the installation base of the index table 3 so that the jig positions and all the storage positions of the component storage device 7 are within the movable range of the plurality of robots 4. In addition, the assembly and processing steps are performed by a plurality of robots 4 and a parts processing device 10.
By dividing the process with and using the index table 3,
The configuration is such that a plurality of robots 4 complement each other's work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to assembly of precision mechanical parts,
The present invention relates to a parts assembling apparatus using a multi-arm robot for use in light processing and, if anything, automation in the startup process of a new product with a small production volume.

[0002]

2. Description of the Related Art In recent years, the life cycle of products has become extremely short due to the diversification of consumer preferences. The cycle is short and ranges from 3 months to 6 months.
On the other hand, conventionally, automation was implemented by mass introduction of robots at the time when it was expected that a certain amount of production could be secured by hand when launching a new product. However, with the departure from the manufacturing industry, it has become difficult to gather people for the handsets. In addition, due to the shortened life cycle of the product cycle, even if a large number of robots are introduced to launch the product, the product itself becomes obsolete, and the automation is often wasted.

With this background, the launch of new products,
In other words, there is a demand for a production facility that can be automated from a point of time when the production volume is low and can be expanded in stages in accordance with the movement of the market, and can be diverted when the market size is reduced.

However, in the case of assembling a motor unit as an example, as shown in FIG. 10, conventionally, a robot is installed on the side of the line, and most of them have a single step for the robot, and at most, a few steps. We are working on the process. Figure 10
In the figure, 1000 is an assembly jig transfer device, 1001
Is a robot.

[0005]

However, such a production method has the following major problems, especially from the viewpoint of starting a new product, that is, automation at the time when the production amount is small.

(1) A robot has a single process, at most 2
The line length is very long compared to the production volume because only 3 steps are performed. Therefore, the amount of capital investment will be vague.

(2) Since the robot is arranged on the side of the line to convey the work, it can be automated only by the flow of the work in a certain direction, and the same assembling,
Even if the processing methods are adopted, multiple identical equipments are required unless the processes are adjacent to each other.

(3) Since the robot is arranged on the side of the line to transfer the work, it takes time to carry in and carry out the work, and the operating rate of the robot is not necessarily high.

(4) When a product becomes obsolete, only a part of the robot, conveyor, etc. can be diverted individually, and the re-layout corresponding to the new product becomes a major construction work.

An object of the present invention is to solve various problems that occur in conventional line type production equipment at the time of starting up a new product, that is, at a time when the production amount is small, and to provide an automatic means.

[0011]

SUMMARY OF THE INVENTION A component assembling apparatus for a multi-arm robot according to the present invention is a component for supplying a component to a jig on the index table and an index table which can be rotated in the forward and reverse directions and around the index table. A supply device, a transfer device for transferring the parts to be supplied onto the jig, a transfer device for transferring the parts transferred by the transfer device onto the jig, a parts processing device for processing parts by the jig,
The robot is composed of a component storage device for storing the components completed by the jig, and has a plurality of robots at the component extraction position of the component supply device, all the jig positions on the index table, and the storage position of the component storage device. Within the movable range of the index table, a plurality of ceiling-mounted robots are arranged from the ceiling surface above the mounting base of the index table so that the index table is sandwiched, and the assembly and processing steps are completed until the parts are completed. Robots and parts processing equipment divide the process, and multiple robots complement each other's work. By rotating the index table forward and backward, the parts are conveyed during assembly and processing, and the index table rotates a predetermined number of times. Make sure the rear parts are completed,
In addition, by locating the installation positions of the plurality of ceiling suspension robots so as to deviate from the rotation center of the index table toward the component supply side, all the component extraction positions of the component supply device and all the recovery positions on the index table can be corrected. The tool position and all storage positions of the component supply device are placed within the movable range of the plurality of robots.

Further, in the component assembling apparatus for a multi-arm robot of the present invention, a part of the index tables of the plurality of ceiling-mounted robots is included in the movable range, and the index table within the movable range of the plurality of ceiling-mounted robots is arranged. By performing multi-arm work in the overlapping area, the robot performs single-arm work in the other areas, and by installing a lane on which a plurality of ceiling-mounted robots can travel on the ceiling surface above the index table installation stand, It is characterized in that both robots can adjust an area where they can overlap each other within a movable range on the index table surface.

Further, in the component assembling apparatus for a multi-arm robot according to the present invention, the shaft center portion of the index table has a hollow structure so that the index table surface outside the hollow portion can be rotated normally and reversely, and a cylindrical tool is provided in the hollow portion. The feature is that the storage part can be installed.

Further, in the component assembling apparatus for a multi-arm robot of the present invention, the hollow cylindrical tool storage portion of the index table has a structure capable of moving up and down, and the tool storage portion is indexed when the robot is moved other than when the tool is attached or detached. The robot is controlled so that the arm and tool do not interfere with each other when the robot moves, and the tool storage part is raised above the index table surface when the robot is moved, making it easy for the robot to attach and detach the tool. The feature is that you can do it.

[0015]

[Advantages] By adopting the above-mentioned configuration, the assembling and machining processes until the parts are completed are divided by a plurality of robots and the parts machining device, and the index table is used to By carrying out the work, the work can be complemented by a plurality of robots. Therefore, more processes than ever can be assigned to the robot, and since a plurality of robots are used, the production speed is high and advanced work such as multi-arm coordinated work is also possible.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings.

First, a first embodiment of the present invention will be described with reference to the drawings. 1 is an overall view of a parts assembling apparatus using a multi-arm robot according to a first embodiment of the present invention, FIG.
FIG. 3 is a plan view of a parts assembling apparatus for a multi-arm robot according to the present invention. Reference numeral 1 is an index table, and a main body stand on which a robot main body is installed. 2 is an overhead traveling lane section on which a plurality of ceiling-mounted robots are suspended. Body stand 1
Is a multi-arm robot installed on the ceiling surface of the robot, 5 is an end effector attached to the tip of the multi-arm robot 4, that is, a hand, and 6 is a tool storage part installed in the hollow part of the center of the index table. , 7 is the tool storage,
8 is a tray component supply device, 9 is a taping component supply device, 10 is a component processing device, 11 is a pallet transfer device, 1
2 is a pallet returning device, and 14 is a transfer device.

FIG. 3 is a specific example 1 of the parts assembling apparatus according to the present invention.
2 shows a motor unit which is an assembly object (hereinafter, referred to as a work). Reference numeral 21 denotes a motor unit (hereinafter simply referred to as a motor) in which a worm gear is press-fitted into a main shaft of the motor,
22 is a resin-molded motor base unit (hereinafter simply referred to as a base) in which three gear insertion pins are press-fitted,
23 is a gear A, 24 is a gear B, 25 is a gear C, 26 is a screw for assembling the motor to the base, 27 is a cut washer for preventing the gear from coming off, and 28, 29 and 30 are gears A, B and C. It is a pin to be inserted.

FIG. 4 shows a procedure for assembling the motor unit in all 12 steps. (1) Assemble the base 22 to the motor 21.

(2) The motor 21 and the base 22 are fixed by tightening the two screws 26. (3) It is inspected whether the screw 26 is tightened by measuring the height of the screw head.

(4) The unit in which the motor 21 and the base 22 are fastened (hereinafter referred to as the base unit) is turned over 90 degrees.

(5) The grease is transferred to the three gear inserting pins 28, 29, 30 of the base unit 22.

(6) Insert the gear A23 into the pin 28. (7) Insert the gear C25 into the pin 30.

(8) Gear B24 is replaced with gear A23, gear C2
Insert into pin 29 while checking the meshing of No. 5.

(9) Insert a cut washer 27 for preventing gear disengagement into the gear B24. (10) In order to confirm whether the cut washer 27 has been properly inserted, a height inspection of the cut washer 27 is performed.

(11) Gear A23, gear B24, gear C2
Transfer the grease to the meshing part of the gear No. 5.

(12) The completed motor unit is stored in the finished product tray. FIG. 5 shows a plan view of a parts assembling apparatus by the multi-arm robot of Concrete Example 1.

Reference numeral 41 is a main body mount portion, and 43 is an index table portion which is divided into eight and can be rotated forward and backward, and there are eight work stations, 1 to 8. Reference numerals 44a and 44b respectively constitute the multi-arm robot unit 43. The robot 1 and the robots 2 and 46 are tool storage units 1 and 47 capable of storing a maximum of eight hands, and 47 is a tool storage unit 2 and 48a capable of storing a maximum of four tools. Is a tray component supply device capable of mounting two types of components, and the base is supplied to the supply point A as a component for the robot 1. 48b is a finished product storage device, which is a robot 2
The finished products are stored in the storage locations C and D as parts for the storage. Reference numeral 49 denotes a taping component supply device which can supply up to four types of taping components. Taping cassette 111,
Reference numeral 112 denotes a taping component for the 44a robot 1, which includes gear A, gear B, and taping cassettes 113 and 11, respectively.
Reference numeral 4 denotes a taping component for the robot 2b, which is supplied with a gear C and a screw, respectively. Reference numeral 50 denotes a processing device for a cut washer, which is punched and supplied from a hoop-shaped resin tape. A transfer device 52 transfers the motor flowing on the conveyor from the conveyor to the index table.

Table 1 shows the hands and tools stored in the tool storage unit 1 and the tool storage unit 2 in Concrete Example 1. All of these are automatically attached and detached as the end effector of the robot by the automatic tool changer.

[0030]

[Table 1]

Table 2 shows the parts used in Concrete Example 1, their packaging, the parts supply position, and the parts storage position.

[0032]

[Table 2]

The specific contents of the assembly are shown below. Transfer device "The motor that has flowed on the conveyor is the work station 1
Transfer to the assembly jig. Index "2-division normal rotation" Robot 1 "Take the base from the tray and assemble it to the motor on the transferred work station 3." Robot 2 "Do nothing" Index "2-division normal rotation" Transfer device " Work station 1 with the motor flowing on the conveyor
Transfer to the assembly jig. "Index" 2-division normal rotation "Robot 1" Take the base from the tray and assemble it to the motor on the transferred work station 3. "Robot 2" Screw the base and motor assembled at work station 3 at work station 7 ""Tighten." Index "Four-fold forward rotation" Robot 1 "Inspect the screw height of the motor screwed at work station 7 at work station 3.""Work the motor screwed at work station 7 at work station 3" Robot 2 "Reverse 90 degrees with." Robot 2 "Screw the base and motor assembled at work station 3 at work station 7." Index "Four-fold forward rotation" Robot 1 "For motors screwed at work station 7 Check the screw height at the work station 3. "" Work station The motor screwed with the screw 7 is turned over 90 degrees at the work station 3. "Robot 2" The grease is transferred to the pin on the base turned 90 degrees at the work station 3 at the work station 7. "Index" 4 divisions " Forward rotation] Robot 1 "Take out the gear A from the taping cassette, and insert the gear A into the work station 3 into the pin A on the base onto which grease has been transferred at the work station 7.""Gear C is taken out from the taping cassette. The gear C is inserted at the work station 3 into the pin C on the base on which grease has been transferred at the work station 7. "Robot 2" At the work station 3, the grease is transferred at the work station 7 to the pin on the base that has been inverted 90 degrees. Index "4 division forward rotation" Robot 1 "From taping cassette, gear A The gear A is taken out and inserted into the pin A on the base on which the grease has been transferred at the work station 7 at the work station 3. "" The gear C is taken out from the taping cassette and the pin C on the base on which the grease has been transferred at the work station 7 Insert the gear C into the work station 3 at the work station 3. Robot 2 "Remove the gear B from the taping cassette and engage the gear B at the work station 7 with the pin B on the base on which grease has been transferred at the work station 7. Insert. ”Index“ Four-fold forward rotation ”Robot 1“ Take out the cut washer from the cut washer processing device, and attach the cut washer to the base inserted in gear at work station 7 to prevent the gear from slipping. Pin B on the base At work station 3. "The height inspection is performed at the work station 3 to see if the cut washer is properly inserted." Robot 2 "The gear B is taken out from the taping cassette, and at the work station 7, it is attached to the pin B on the base onto which grease has been transferred." Insert gear B at work station 7. "Index" Four-fold forward rotation "Robot 1" Remove the cut washer from the cut washer processing device, and cut it at the work station 7 to prevent the gear from slipping off the gear inserted base. Insert the washer into the pin B on the base at the work station 3. "" Check the height of the cut washer at the work station 3 "Robot 2" Insert the cut washer at the work station 3 " The work station 7 at the meshing part of the gear
Then, the grease transfer is performed. "Take out the completed motor unit and store it in the tray from the work station 7." The conditions of the hand, tools, parts, and parts are all the same as in Concrete Example 1. If the work is reduced and each work is performed in parallel at a plurality of work stations, the tact can be further shortened. At this time, the work stations of the index use the work stations 3 and 4 for the robot 1 and the work stations 7 and 8 for the robot 2. To further reduce the tact time, work stations for the robot 1, 1, 2,
3, 4, work stations for robot 2, 5, 6,
If 7, 8 are used, the tact time can be reduced in principle.

Further, in this embodiment, the transfer device 14 transfers only the parts on the conveyor, but it is also possible to transfer the parts on the index table together with the pallets on which the parts are mounted.

Further, in this embodiment, as shown in FIG. 1, the carrier device is arranged inside the main frame, but the two-dot chain line 1
It can also be arranged near the outside of the main frame as shown by reference numerals 5 and 16. By doing so, it is possible to reduce the size of the main body mount, and the size of the transfer device is not affected by the main body mount, so that it is possible to handle pallets of any size.

As described above, according to the present embodiment in the concrete example 1, the assembly and the machining process until the parts are completed are divided into a plurality of robots, and the parts machining apparatus divides the process into a plurality of robots for mutual work. Can be complemented, and the parts can be completed after the index table has been rotated a predetermined time. In addition, as shown in Concrete Example 1, the process can be freely assembled, and the process sequence can be freely assembled according to the purpose.

The second embodiment of the present invention will be described below with reference to the drawings. FIG. 6 shows a plan view of the component assembling apparatus of the concrete example 2.

In Table 3, the tool storage unit 1 of the concrete example 2,
The hands and tools stored in the tool storage unit 2 are shown.
All of these are automatically attached and detached as the end effector of the robot by the automatic tool changer.

[0039]

[Table 3]

The parts used in Concrete Example 2 are shown in (Table 4),
Shows the packing style, parts supply position, and parts storage position.

[0041]

[Table 4]

Concrete example 2 is a case where the multi-arm work is introduced into the motor assembly. Specifically, a cooperative work of screwing the base to the motor by the robot 2 while the base is gripped by the robot 1 at the work station 1 ( Hereinafter, it is referred to as a set screw) and an example in which the robot 1 and the robot 2 alternately perform work in the work station.

Transfer device "The motor that has flowed on the conveyor is transferred to the work station 1
Transfer to the assembly jig. Robot 1 "Take the base from the tray and assemble it to the motor of the work station 1." Coordinated work of the robots 1 and 2 (Set screw) "While the robot 1 holds the base, the robot 2 works on the motor of the work station 1 "Tighten the screws with." Index "2 division forward rotation" Transfer device "Work station 1 with the motor flowing on the conveyor
Transfer to the assembly jig. Robot 1 "Take the base from the tray and assemble it to the motor of the work station 1." Coordinated work of the robots 1 and 2 (Set screw) "While the robot 1 holds the base, the robot 2 works on the motor of the work station 1 Robot 1 "Inspect the screw height of the motor screwed at work station 1 at work station 3.""Invert the motor screwed at work station 1 90 degrees at work station 3" Index "Two-division normal rotation" Transfer device "The motor flowing on the conveyor is used at work station 1
Transfer to the assembly jig. Robot 1 "Take the base from the tray and assemble it to the motor of the work station 1." Coordinated work of the robots 1 and 2 (Set screw) "While the robot 1 holds the base, the robot 2 works on the motor of the work station 1 Robot 1 "Inspect the screw height of the motor screwed at work station 1 at work station 3.""Invert the motor screwed at work station 1 90 degrees at work station 3""Take out the gear A from the taping cassette, and insert the gear A into the pin A on the base on which grease has been transferred at the work station 5 at the work station 5.""Take out the gear C from the taping cassette and go through the grease at the work station 5" Insert the gear C into the pin C on the transferred base at the work station 5. . "To grease transfer the work station 5 to the pins of the base with the robot 2" work station 3 is inverted 90 degrees. "Index" 2 divided forward "transfer device" working motor that has flowed on the conveyor station 1
Transfer to the assembly jig. Robot 1 "Take the base from the tray and assemble it to the motor of the work station 1." Coordinated work of the robots 1 and 2 (Set screw) "While the robot 1 holds the base, the robot 2 works on the motor of the work station 1 Robot 1 "Inspect the screw height of the motor screwed at work station 1 at work station 3.""Invert the motor screwed at work station 1 90 degrees at work station 3""Take out the gear A from the taping cassette, and insert the gear A into the pin A on the base on which grease has been transferred at the work station 5 at the work station 5.""Take out the gear C from the taping cassette and go through the grease at the work station 5" Insert the gear C into the pin C on the transferred base at the work station 5. Robot 2 "Grease transfer is done at work station 5 to the pin of the base which is turned 90 degrees at work station 3.""Gear B is taken out from the taping cassette and pin B on the base is grease transferred at work station 5" Insert the gear B into the work station 7 while engaging them with each other. ”“ Take out the cut washer from the cut washer processing device and attach a cut washer to the gear inserted base at the work station 7 to prevent the gear from slipping out. Pin B on the base
At the work station 7. "The height inspection is performed at the work station 7 to see if the cut washer is properly inserted.""The work station 7 is attached to the gear meshing portion with respect to the base into which the cut washer is inserted at the work station 7."
Then, the grease transfer is performed. “The completed motor unit is taken out and stored in the tray from the work station 7.” In this embodiment, as in the first embodiment, the transfer device 14 transfers only the parts on the conveyor. It is also possible to transfer the entire pallet on which is stored to the index table. Further, it is also possible to dispose the transfer device near the outside of the main frame.

FIG. 7 shows a schematic diagram of the set screw work by the multi-arm robot. As described above, according to the example of the concrete example 2, in addition to the effect of the concrete example 1, the cooperative work and the alternate work using the multi-arm robot can be easily realized.

In FIG. 8, the traveling lane on the ceiling surface of the component assembling apparatus according to the present invention is used to narrow the distance between the multi-arm ceiling-mounting robots so that the multi-arm robots overlap each other within the movable range of the index table surface. The area to be used is enlarged, and the double-arm assembly area is enlarged.

In FIG. 8, reference numeral 61 is a main frame, 62 is a multi-arm robot, 63 is an index table, and 64 is an overhead traveling lane. From the state of FIG. 8A to the state of FIG. 8B, it can be seen that when the distance between the multi-arm robots 62 is narrowed according to the overhead traveling lane 64, the multi-arm assembly area on the index table increases from 65 to 66. .

FIG. 9 shows a vertical sectional view of the index table portion. In FIG. 9, reference numeral 81 is a main body mount, 82 is a multi-arm robot, 83 is a forward / reverse rotatable index table part, 84 is a hollow part of the index table axial center part, 8
5 is a tool storage unit 1 installed in the central portion of the index table, 86 is a cylinder for moving the tool storage unit up and down, and 87 is a stored tool. Figure 11
When moving the robot other than when attaching or detaching the tool, lower the cylinder so that the tool storage part sinks from the index table surface and control so that the arm and tool do not interfere. The tool storage part can be controlled to float above the table surface, making it easy to attach and detach the tool.

[0048]

As described above, if the parts assembling apparatus of the present invention is used, the assembly and processing steps until the completion of the parts are divided by the plural robots and the parts processing apparatus, and the plural robots are used. In order to complement each other's work,
The index table assembly jig circulation device is used to carry out assembly and component transportation during processing, and the parts are completed after the index table and assembly jig have been rotated a specified number of times. A lot of processes are allocated, and the area productivity is significantly improved.
Work loading and unloading times are so small that they can be ignored. Moreover, it has high flexibility for changing models, and because multiple robots are used, the production speed is high, and advanced work such as multi-arm cooperative work is possible. In addition, the structure can be standardized easily, and the degree of equipment diversion is high.

[Brief description of drawings]

FIG. 1 is an overall view of a parts assembling apparatus by a multi-arm robot according to a first embodiment of the present invention.

FIG. 2 is a plan view of a parts assembling apparatus using the multi-arm robot shown in FIG.

FIG. 3 is an overall view showing a motor unit which is an assembly object in the first embodiment of the present invention.

4 is an assembly procedure diagram of the motor unit shown in FIG.

FIG. 5 is a plan view of a parts assembling apparatus using a multi-arm robot applied to specific example 1

FIG. 6 is a plan view of a parts assembling apparatus using a multi-arm robot applied to specific example 2

FIG. 7 is a schematic diagram of a set screw work performed by using a parts assembling device by a multi-arm robot.

FIG. 8 is an explanatory diagram of a multi-arm and single-arm area in the component assembling apparatus by the multi-arm robot according to the embodiment of the present invention.

FIG. 9 is a vertical cross-sectional view of an index table of a parts assembling apparatus using a multi-arm robot according to an embodiment of the present invention.

FIG. 10 Overall view of a conventional parts assembly automation line

[Explanation of symbols]

 1 Main body stand 2 Ceiling traveling lane 3 Index table 4 Multi-arm robot 5 End effector of robot 6 Tool storage 1 in the center of index table 1 7 Tool storage around parts supply device 2 8 Tray parts supply 9 Taping Parts supply device 10 Parts processing device 11 Pallet transfer device 12 Pallet return device 13 Tool 14 Transfer device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hitoshi Kubota 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.

Claims (5)

[Claims] 1. A forward / reverse rotatable index table, and a parts supply device for supplying parts to a jig on the index table around the index table,
A transfer device for transferring the components supplied onto the jig, a transfer device for transferring the components transferred by the transfer device onto the jig, a component processing device for processing the components with the jig, and the jig The parts storage device for storing the completed parts is placed, and the parts take-out position of the parts supply device, the jig position on the index table, and the storage position of the parts storage device can be moved by a plurality of robots. Within the range, a plurality of ceiling-mounting robots are arranged with the index table sandwiched from the ceiling surface above the installation base of the index table, and the installation positions of the plurality of ceiling-mounting robots are set to the rotation center of the index table. All the jigs on the index table and all the parts take-out positions of the parts feeder by locating the parts toward the parts supply side. Location, component assembling apparatus according Fukuude robot, characterized in that placed in the movable range of the plurality of robots all storage locations of the component supply device. 2. The component assembling apparatus according to claim 1,
A plurality of ceiling-mounted robots includes a part of the index table in the movable range, and in the movable range of the plurality of ceiling-mounted robots, multi-arm work is performed in the overlapping areas on the index table, and other areas are used. Then, the robot performs single-arm work, and by installing a lane on the ceiling surface above the index table installation frame on which multiple ceiling-mounting robots can travel, both robots can move within the movable range on the index table surface. A parts assembling apparatus characterized in that areas in which they can overlap each other are adjustable. 3. The component assembling apparatus according to claim 1,
A part assembly characterized in that the shaft center of the index table has a hollow structure, the index table surface outside the hollow part can rotate forward and backward, and a cylindrical tool storage part can be installed in the hollow part. apparatus. 4. The component assembling apparatus according to claim 1,
The hollow cylindrical tool storage part of the index table has a structure that allows it to move up and down, and when the robot is moved other than when the tool is removed, the tool storage part is sunk from the index table surface so that the arm and tool interfere with each other when the robot moves. It is controlled so that the tool storage part is floated from the index table surface when the tool is attached and detached, and the tool can be easily attached and detached by the robot. 5. The component assembling apparatus according to claim 1,
A parts assembling apparatus, characterized in that the carrying device is arranged near the outside of the installation base of the index table.