JP2002326127A - Part carrying pallet - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate a change in and an addition to specifications of parts in an assembly system that combines a part supplying operation by a man and a part assembling operation by a robot. SOLUTION: A part carrying pallet 5 is for use in the assembly system 1 having a part supply station 2 where a manual operation supplies parts, a part assembly station 3 where a robot operation assembles the parts supplied from the part supply station 2, and a carrying means 4 for carrying the parts from the part supply station 2 to the part assembly station 3. The part carrying pallet 5 includes a baseplate 50 carried by the carrying means 4, and part holding jigs detachably and changeably fixed on the baseplate 50 to hold the parts.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component transfer pallet used in an assembling apparatus that combines a component supply operation by a human and a component assembly operation by a robot. The present invention relates to a component transport pallet that can be used at a low cost.

[0002]

2. Description of the Related Art Generally, when a product is manufactured and sold,
It is required to change the production amount according to the sales amount of the product. Also, at the beginning of the launch of a new product, specifications often change, so that the shape of parts and the like may be changed. In this regard, when the assembly work is performed manually, it is possible to adjust the production amount by adjusting the number of persons arranged, and it is easy to cope with a change in specifications. However, in another aspect, the manual assembling operation has a problem of quality deterioration due to human error such as forgetting to assemble parts. On the other hand, with a fully automated assembly device using an assembly robot and a component supply device or a component supply tray, an increase in production volume can be expected, but equipment costs are increased, and the component supply device and the component supply tray are dedicated to individual components. You need to prepare something.

[0003]

However, if a dedicated component supply device or a component supply tray corresponding to each component is installed, the component specification may be changed when a new product is used. It is necessary to recreate the supply device and the component supply tray, and it is necessary to design and manufacture the component supply device and the like over several months. Also, depending on the demands of consumers and business partners, it may be necessary to produce and assemble parts having a plurality of specifications even for parts used in the same place. Even in such a case, if a component supply device dedicated to each component is provided, it is very difficult to cope.

[0004] From such a problem, the inventor of the present application has
We have invented an assembling apparatus that combines the accurate and fast assembling work by a robot with the characteristics of human work that can flexibly respond to specification changes. In the present application, in the assembling apparatus, a component transport pallet is provided as a component for linking a task performed by a person and a task performed by a robot.
It is an object of the present invention to provide a component transport pallet capable of easily responding to a change or addition of a component specification.

[0005]

According to the present invention, there is provided a parts supply station for supplying parts by manual operation, and a parts assembly station for assembling parts supplied from the part supply station by robot operation. A component transport pallet used in an assembling apparatus having transport means for transporting a component from the component supply station to the component assembling station, wherein a base plate transported by the transport means and a component for holding the component And a component holding jig that is detachably fixed on the base plate.

As described above, in an assembling apparatus in which a robot and a person coexist, the parts are transferred via the parts transport pallet, whereby the position and orientation of the parts are determined, and the robot can reliably handle the parts. . In addition, by configuring the component transport pallet with a base plate and a component holding jig fixed to the base plate to hold each component, the component fixing jig can be used when the specification of the component is changed or the like. By manufacturing only the parts according to the parts, it is possible to cope in a short period of time and at low cost.

[0007] Further, by forming a holding portion such as a concave portion or a convex portion capable of holding components of two or more types on one of the component holding jigs, a product having a plurality of specifications can be manufactured by an assembling apparatus. In the case of assembling, the same one type of component transport pallet can be used, the types of component transport pallets can be reduced, and misuse of the component transport pallets due to the increase in types can be prevented.

Further, in order to hold components of a plurality of specifications, it is preferable that one component holding jig is provided with holding portions such as concave portions and convex portions for holding components at a plurality of different positions. . In this case, even if a person mistakenly picks up a part, or the number of supplied parts is wrong, etc., even if the part is placed in the wrong part of the holding part of the part holding jig, Since the robot cannot take the parts, the misplacement or misplacement of the parts can be detected by the robot, and the misassembly of the parts can be prevented. Further, even if the operator does not make a mistake in the arrangement of the parts, the switching of the specification or the specification inputted to the robot may be wrong. Even in this case, since the robot cannot take parts, mistakes in assembling parts can be prevented.

[0009]

Next, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, a magnetic tape cartridge will be described as an example of a product to be assembled. FIG. 1 is an overall perspective view of an assembling apparatus in which the component transport pallet of the present invention is used.

First, an assembling apparatus using the component transport pallet of the present invention will be described with reference to FIG.
As shown in FIG. 1, the assembling apparatus 1 has an assembling line configured in a loop, and a part supply station 2 and a part assembling station 3 are transported by a conveying means 4 such as a roller conveyor 41.
Are connected by When assembling a work such as a magnetic tape cartridge with the assembling apparatus 1,
A part supply station 2 performs a part supply operation by a person, and a part assembly station 3 causes a robot to perform an assembling operation, thereby sharing work appropriate for each of the person and the robot.

In the component supply station 2, all the components of the work are set at predetermined positions on the component transport pallet 5, and the component transport pallet 5 is transported to the component assembling station 3 by transport means 4, and the components are transported by the robots R1 and R2. The parts are assembled on the transport pallet 5. For example, when the work is a magnetic tape cartridge, a part of seven small parts is assembled by the robot R1 to a lower case on which a reel is set,
After the remaining components are assembled by the robot R2, the assembly is performed by covering the upper case.

In the component supply station 2, a roller conveyor 41 for placing and transporting the component transport pallet 5 is installed in front of the operator 8, and a work table 21 is installed before and after the roller conveyor 41. This work table 21
In the front, there are five parts boxes 22 for accommodating each internal part,
Two switches are provided on the right and left sides of the operator, and an operation switch 23 of the roller conveyor 41 is provided on the right side of the operator 8. A container 24 containing the upper case 7 is loaded and placed above the roller conveyor 41 on the left hand side of the worker 8, and a transport conveyor 25 is provided on the right hand side of the worker 8 on the opposite side. Lower case 6 with reels
Is carried in and placed. In addition, a forgetting sensor (not shown) is provided in a portion where these parts are placed, detects the operation of removing the parts, and displays and alerts when the user forgets to remove them. Although FIG. 1 shows that only one worker 8 supplies each component to the component transport pallet 5, the number of workers is increased according to the production amount, and division of work is performed for each internal component. As a result, it is possible to speed up the line tact. Further, the worker 8 works inside the loop of the roller conveyor 41, but may work outside the loop. Further, the lower case 6 and the like are carried in by the roller conveyor 2.
Regardless of 5, prepare a table close to the worker 8,
You may put it in a parts basket as appropriate.

The component assembling station 3 is installed downstream of the roller conveyor 41 with respect to the component supply station 2 so that two robots R1 and R2 assemble a magnetic tape cartridge. First
The robot R1 is programmed to assemble five internal components into the lower case 6 on the transported component transport pallet 5. The second robot R2 assembles the remaining two parts, holds the upper case 7 over the lower case 6, holds the work assembled together with the lower case 6 from the parts transfer pallet 5, lifts the work, and screws the work. It is programmed to move to the conveyor 31 to the next process such as a tightening machine.

The roller conveyor 41 transports the component transport pallet 5 on which the worker 8 has set components to the component supply station 3 and, before the robot R1, unloads the component transport pallet 5 at the work position A1. Subsequently, control is performed so that the next component transport pallet 5 is carried into the work position A1.

Each of the robots R1 and R2 is a general-purpose robot having multiple axes and multiple joints. The distal end chuck portion of the robot hand has a structure capable of positioning and holding a plurality of types of components. By programming various operations, various parts can be gripped, and the operations such as changing the direction and adjusting the position can be performed. The number of the robots R1 and R2 can be increased in accordance with the production amount, and the line tact can be made faster by assembling seven internal parts.

Next, the component transport pallet of the present invention will be described. FIG. 2 is a plan view of the component transport pallet of the present invention. As shown in FIG. 2, the component transport pallet 5 for transporting the components of the magnetic tape cassette includes a first holding jig 51 for holding the lower case 6 as a main component upward with respect to the base plate 50 and an upper case 7. 2nd holding down
The holding jig 52 and third to eighth holding jigs 53 to 58 for holding fine internal components (not shown) to be assembled therein are fixed to be detachable and replaceable. One of the third to eighth holding jigs 53 to 58 is capable of holding a total of seven internal parts by having two parts. These first holding jig 51, second holding jig 52,
The third to eighth holding jigs 53 to 58 correspond to the component holding jig described in the claims.

The first holding jig 51 is connected to the lower case 6
Three positioning blocks 51a for positioning the side surface,
And a pressing member 51b for pressing the corner portion toward the positioning block 51a by the biasing force of a built-in spring. A recess 51c is formed in a portion of the base plate 50 located on both sides of the lower case 6, into which the robot hands can be inserted so that the robots R1 and R2 can take out the lower case 6. Also, the second holding jig 52
Has seven positioning blocks 52a for positioning the four side surfaces of the upper case 7. Similarly to the recess 51c, a recess 52c is formed in a portion located on both sides of the upper case 7 of the base plate 50.

Next, an eighth holding jig 58 which is one of the component holding jigs will be described. Eighth holding jig 58
Is a component holding jig for setting the erroneous erasure prevention claw of the magnetic tape cartridge. Depending on the type of the magnetic tape cartridge, the erroneous erasure prevention claw has specifications slightly different in shape such as an openable / closable type, an impossible type, a marked type, and the like, as shown in FIGS. The holding jig 58a and the holding jig 58b having different shapes for holding the components are properly used according to the specifications of the magnetic tape cartridge to be produced.

The holding jig 58a shown in FIG. 3 is a holding jig for holding the erroneous erasure prevention claw 65a having a hole. An erroneous erasure preventing claw 65a is provided on the upper surface of the holding jig 58a.
Are formed. This recess 60
In order to facilitate processing of a, the holding jig 58a is integrally formed by fastening two metal blocks 62a and 63a with bolts 69. The holding jig 58 a is formed with a fixing hole 61 a penetrating from the upper surface to the lower surface. The fixing hole 61 a is formed in a predetermined screw hole of the base plate 50.
By combining a and fastening with bolts not shown,
The holding jig 58a can be detachably fixed.

A holding jig 58b shown in FIG. 4 is a holding jig for holding an erroneous erasure prevention claw 65b of another specification having no hole. As with the holding jig 58a, the holding jig 58
a concave portion 60 corresponding to the erroneous erasure prevention claw 65b
b is formed. In order to facilitate the processing of the recess 60b, the holding jig 58b includes two metal blocks 62b,
63b is fastened with a bolt 69 to be integrally formed. The holding jig 58b is formed with a fixing hole 61b penetrating from the upper surface to the lower surface. The fixing jig is formed by aligning the fixing hole 61b with a predetermined screw hole of the base plate 50 and fastening with a bolt (not shown). 58b can be detachably fixed.

The holding jig 58a and the holding jig 58b as described above are usually fixed to the same position on the base plate 50 so as to be detachable and replaceable, and a component transport pallet is selected according to the specifications of the magnetic tape cartridge to be produced. It can be used properly. However, if there is room in the space of the base plate 50, the two holding jigs 58a and 58b may be fixed to the same base plate 50 at different positions so as to be detachable and replaceable. In this case, the erroneous erasure prevention claw 65
Since a can be set only in the concave portion 65a and the erroneous erasure preventing claw 65b can be set only in the concave portion 65b, the setting position differs depending on the specification of the erroneous erasure preventing claw. Therefore, if the robot cannot grasp the erroneous erasure prevention claw when trying to take it, the operator may have left the erroneous erasure prevention claw or placed the erroneous erasure prevention claw of the wrong specification, or Since it is possible to detect whether the specification specified by the side is wrong or an error has occurred, by stopping the assembling apparatus, erroneous assembly can be prevented beforehand.
In addition, since it is easy for an operator to make mistakes due to a problem in operation when setting the same kind of parts in different positions, it is necessary to set the same kind of parts in the same position even if the specifications are different. Thus, it is desirable to arrange the holding jig.

In this regard, the holding jig 58 shown in FIG.
According to c, it is possible to detect forgetting to set parts or the like, while reducing operator mistakes. Holding jig 58c
Is a holding jig capable of holding both the erroneous erasure prevention claw 65a and the erroneous erasure prevention claw 65b at different positions. On the upper surface of the holding jig 58c, an erroneous erasure preventing claw 65a is provided.
And a concave portion corresponding to the erroneous erasure prevention claw 65b are formed as a continuous concave portion 60c. However, the erroneous erasure prevention claw 65a and the erroneous erasure prevention claw 65b are formed as one recess 60c so that respective recesses corresponding to the two erroneous erasure prevention claws overlap so that they cannot be set at the same time. . In order to facilitate processing of the recess 60c, the holding jig 58c is integrally formed by fastening two metal blocks 62c and 63c with bolts 69. The holding jig 58c is formed with a fixing hole 61c penetrating from the upper surface to the lower surface. The fixing jig is fixed to a predetermined screw hole of the base plate 50 and fastened by a bolt (not shown). 58c can be detachably fixed.

It is desirable that the shape of the component holding jig be such that the same component can be placed only at a fixed position in the same direction. For example, it is desirable that the nail is formed so that it cannot be placed even if the wrong erasure prevention nail is placed upside down or upside down. By doing so, it is possible to prevent the assembly line from being stopped due to a worker's component supply error.

According to such a holding jig 58c, it is possible to detect the misplacement of the parts in the assembling robots R1 and R2 without being confused by the position where the operator sets the erroneous erasure preventing claws 65a and 65b. In addition to the above, it is possible to assemble products of a plurality of types using the same component transport pallet. In addition, when the ease of setting by the operator is more important than preventing two components from being set simultaneously in one component holding jig, the erroneous erasure preventing claws 65a,
The two concave portions corresponding to 65b may be formed on the upper surface of one component holding jig independently without overlapping.

The assembling apparatus 1 configured as described above and the component transport pallet 5 used in the assembling apparatus 1 are used as follows. First, the worker 8 sequentially sets the internal components taken out from the lower case 6, the upper case 7, and the component box 22 on the component transport pallet 5 which has been transported to a predetermined position in front of the worker 8 and stopped. At this time, the worker 8 sets one of the erroneous erasure preventing claws 65a and 65b to the holding jig 58 according to the magnetic tape cartridge of the specification currently being produced. At this time, the holding jig 58 is
In the case of either one of the holding jig a and the holding jig 58b, an erroneous erasure prevention claw cannot be set, and in the case of the holding jig 58c, it can be set only at a correct position. After confirming that all components have been set, the operation switch 23 is operated to transport the component transport pallet 5 to the next step.

The component transport pallet 5 includes a roller conveyor 4
1 transports to the part assembly station 3 before the robot R1. The robot R1 assembles five parts including the erroneous erasure preventing claw from the part transport pallet 5 transported to the work position A1 of the robot R1. At this time, if it is detected that the hand of the robot R1 cannot grip the erroneous erasure prevention claw and the hand has been closed to the end, the misplacement of the erroneous erasure prevention claw, supply of parts, or instruction to the robot is performed. Since there is a mistake, it is possible to stop or sound an alarm to notify an abnormality of the assembling work. On the other hand, when the predetermined assembling work is completed, the component transport pallet 5 is transported by the roller conveyor 41 to the work position A2 of the robot R2.

The robot R2 assembles the remaining two components from the component transport pallet 5 into the lower case 6, and further removes the work assembled with the lower case 6 from the component transport pallet 5 while the upper case 7 is placed on the lower case 6. Grasp and lift and move to conveyor 31 for the next step. Robot R
The component transport pallet 5 after the completion of the assembly work in 2,
Conveyed on the roller conveyor 41 in the form of a loop,
It stops again in front of the worker 8 and is used for assembling the next magnetic tape cassette.

When the specification of the erroneous erasure prevention claw of the magnetic tape cartridge is switched, if the holding jig 58a or the holding jig 58b is fixed to the same position on the component transport pallet 5, the holding jig 58a or the holding jig is used. The tool 58b is replaced with one of another specification, or replaced with a component transport pallet 5 to which a holding jig of another specification is fixed, and the process proceeds to the assembly of the next specification. If the holding jig 58c is fixed to the component transport pallet 5, only the erroneous erasure preventing claw to be supplied is changed, and the process proceeds to the assembly of the next specification while using the same component transport pallet 5.

When the specification of the erroneous erasure prevention claw is increased, the type of the holding jig 58 is appropriately increased, or the specification of the erroneous erasure prevention claw of the added specification is added to the existing holding jig 58. By processing the recessed portion, it is possible to respond to an increase in specifications quickly and at low cost.

Further, even when the shape of the erroneous erasure prevention claw is changed due to improvement or the like, only a holding jig having a concave portion corresponding to the new shape of the erroneous erasure prevention claw is manufactured, and is attached to and detached from the base plate 50. By fixing as much as possible, it is possible to respond to the change quickly and at low cost.

As described above, the use of the component transport pallet of the present invention not only makes it possible to smoothly supply and deliver components in an assembly line where robots and humans coexist, but also to change the shape of components, It is possible to respond flexibly, quickly and at low cost to the addition of specifications. Further, when there are a plurality of specifications, it is possible to set components of a plurality of specifications on one component transport pallet, so that an error in the setting of the components can be detected by the assembling robot.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, a component having a plurality of specifications or a component whose shape is changed can be applied not only to the erroneous erasure prevention claw but also to other components, and the product is limited to a magnetic tape cartridge. not. That is, according to the component transport pallet of the present invention, it is possible to flexibly cope with addition and change of components irrespective of products.

The base plate is not limited to a simple plate as shown in the embodiment, but may have various other functions. That is, as long as the component holding jig can be detachably fixed and can be transported by the transporting means, any shape can be used. For example, the shape is determined by a standard that is known to have no change or addition of components. Some parts and the like may be formed by processing a part directly held on the base plate.

Further, the holding portion of the component holding jig is not limited to the one formed by the concave portion as in the embodiment,
As long as the component can be held, it may be formed, for example, by a convex portion.

[0035]

As described above in detail, according to the component transport pallet of the present invention, in an assembling apparatus in which a component supplying operation by a human and a component assembling operation by a robot are mixed, it is possible to flexibly change or add components. And it can respond quickly and at low cost.

[Brief description of the drawings]

FIG. 1 is a perspective view of an entire assembling apparatus in which a component transport pallet of the present invention is used.

FIG. 2 is a plan view of the component transport pallet of the present invention.

FIG. 3 is a perspective view showing an example of a component holding jig.

FIG. 4 is a perspective view showing another example of the component holding jig.

FIG. 5 is a perspective view showing still another example of the component holding jig.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Assembly apparatus 2 Component supply station 3 Component assembly station 4 Transport means 5 Component transport pallet 8 Operator 50 Base plate 58, 58a, 58b, 58c Component holding jig R1, R2 Robot

Claims (1)

[Claims] 1. A parts supply station for supplying parts by manual operation, a parts assembly station for assembling parts supplied from the parts supply station by robot operation, and a part transfer from the parts supply station to the parts assembly station. A component transport pallet used in an assembling apparatus having a transport unit, comprising: a base plate transported by the transport unit; and a component holding jig detachably and removably fixed on the base plate to retain the component. And a component transport pallet.