JP2003071647A - Automatic mounting facility and automatic mounting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic mounting facility and an automatic mounting method capable of realizing mechanization (automation) of a temporarily assembly welding process, reducing labor, and improving working efficiency. SOLUTION: This automatic mounting facility comprises a fixture 6 for mounting, a pallet Q for loading a plurality of components P to be set, and a welding robot 7 for mounting the plurality of components P set on the fixture 6 for mounting. The automatic mounting facility has a single handling robot 1 capable of performing a handling operation for taking the components P of the pallet Q and setting them at a predetermined position of the fixture 6 for each of the plurality of components P, and a fixture J for positioning for correcting the attitudes and positions of the components P taken out of the pallet Q and recognizing a relative positional relation between the components P and a steering robot 1 before the setting to the fixture 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic assembly facility such as a temporary assembly welding robot, and more particularly, to a product composed of a plurality of parts by using one set of robots that can be freely handled. The present invention relates to a technique that enables automatic assembly in an accurately positioned state.

[0002]

2. Description of the Related Art For example, in a vehicle body production line for a forklift, a vehicle body frame is produced by integrally welding a plurality of types of frame members made of thick plate material. The welding length for joining the frame members together. Is considerably long, so first of all, a plurality of frame members are partially spot-welded and temporarily assembled to adjust the shape of the vehicle body frame,
After that, a two-step process of performing main welding (MIG welding or TIG welding) is performed, and thereby a welded and integrated vehicle body frame is created.

Conventionally, the temporary assembly welding process, which requires precision, is basically performed manually. That is, as shown in FIG. 6, a preliminarily prepared temporary assembly jig 30 for a vehicle body frame is installed at a predetermined position, and a frame member 32 placed on a member pallet 31 is replaced by a human power or overhead crane 33. Is used to set the temporary assembling jig 30 at a predetermined position. Then, as shown in FIG. 7, the worker uses the welding machine 34 to weld the frame member 32 previously set on the temporary assembly jig 30 to another member (not shown) in contact with the frame member 32. A series of temporary welding work
It was repeated for each of a plurality of members.

[0004]

In the above-mentioned conventional temporary assembly welding process, when the frame member is brought from the pallet for the member to the setting position of the temporary assembly jig, the operator carries the heavy frame member while carrying it. Since it is necessary to set the position while adjusting the posture and the position, which is a labor burden and requires a certain amount of skill, no one can do it. In addition, the temporary welding process in the temporary assembly jig was also covered by the artificial welding work.

That is, the temporary assembly jig has a relatively complicated structure because it is provided with a reference surface for each frame member, a clamp, etc., and the time required for positioning and clamping each frame member by human operation is relatively long. It tends to take a long time. Therefore, it is difficult to obtain a merit in terms of work efficiency and accuracy even if this temporary assembly welding process is mechanized, and thus it is difficult to use a relatively expensive welding robot, and therefore it is inevitable that the welding work is performed manually. It was.

As described above, the temporary assembly welding process is a relatively difficult human work requiring labor and skill, and
Therefore, the work efficiency was not satisfactory, and there was room for improvement. In view of such circumstances, an object of the present invention is to obtain an automated assembly facility and an automated assembly method that realize mechanization (automation) of a temporary assembly welding process and can reduce labor and improve work efficiency. is there.

[0007]

SUMMARY OF THE INVENTION The present invention is directed to an assembling jig, a pallet for mounting a plurality of parts to be set on the assembling jig, and an assembling jig. And an assembling device for assembling a plurality of assembled parts together, and a handling operation for taking out the parts placed on the pallet and setting them at a predetermined position of the assembling jig can be performed for each of the plurality of parts. It is characterized in that an automatic assembling facility is configured by providing one steering robot.

According to the present invention, the operations of taking out, transferring, and setting the parts placed on the pallet to the assembling jig are all performed by the steering robot, and the heavy frame is used. It is possible to relieve the heavy labor of carrying the members while aligning them, and it is possible to greatly improve the efficiency compared to manual work. Since there is only one steering robot that mechanically performs each of these operations, it is possible to save the required installation space and save the installation space as compared with the case where a plurality of dedicated robots are provided, for example. Can be made compact.
Further, the efficient assembling function of the parts set in the assembling jig by using the assembling device becomes effective, and it becomes possible to greatly contribute to the improvement of the work efficiency as a whole.

Further, in this automatic assembly apparatus, the posture and position of the parts taken out from the pallet are corrected to a predetermined state, and the relative position between the parts and the steering robot before being set on the assembly jig. A positioning jig for recognizing the relationship is provided.

Instead of directly carrying the parts placed on the pallet to the assembling jig, the taken-out parts are once placed on the positioning jig to correct the posture and position, and then the parts are operated with the steering robot. Carry it to the assembly jig after recognizing the relative positional relationship. The relative positional relationship between the taken-out parts and the steering robot is recognized for every part, that is, it is accurately determined, and a tool for accurately positioning a plurality of types of parts can be used even if it is one steering robot. It becomes possible to set the tool at a predetermined position. As a result, the assembling accuracy of the assembling jig can be further improved.

Further, in the automatic assembling apparatus, the steering robot can be equipped with, for example, a robot hand for detachably supporting the parts, and the robot hand can be replaced with one suitable for taking out and transferring the parts. It is equipped with a chuck to make it flexible.

In this case, since the steering robot is provided with the chuck part capable of replacing the robot hand for supporting the parts, the robot hand capable of obtaining a supporting state suitable or optimum for taking out and transferring the parts. Can be used properly for each part, so that the positioning function in the positioning jig and the accurate setting function in the assembling jig can be further enhanced. As a result, the assembling accuracy of the assembling jig can be further improved.

Further, the chuck portion is constructed so that the components can be freely supported and released by, for example, magnetic attachment means.

If the component is supported by the magnetic attachment means such as an electromagnet, for example, a dedicated support means such as a hanging hook or a hole is not required, and it is not necessary to form an extra structure on the component and the robot hand. The flexibility in the posture and position at the time of supporting can be enhanced, and the degree of freedom in setting the supporting state can be increased. As a result, it is possible to obtain an effect that it is easy to design the robot hand and arrange the pallet.

Further, the steering robot comprises, for example, a position-fixed rail and a robot main body which is movable along the rail.

In this case, since the robot body can move freely along the rails, the equipment length can be changed and set in any way by setting the rail lengths, and the running wheels such as tires can be used. Compared with the means in which the traveling direction can be freely set, the position change of the robot main body does not occur due to repeated running, which is obviously advantageous in performing position control.

Further, the automatic assembling method is to take out the parts placed on the pallet using a single steering robot, and set the taken out parts on a positioning jig. A positioning process for recognizing the relative positional relationship between the steering robot and the parts, a setting process for setting the positioned parts at a predetermined position of the assembly jig by the steering robot, and a setting process for the assembly jig And an assembling step of assembling a plurality of parts by an assembling device.

According to this method, since the steering robot performs both the setting operation on the assembling jig while taking out and positioning the parts from the pallet, the heavy labor of carrying the heavy frame members while aligning them. It is possible to achieve a significant improvement in efficiency compared to manual work. Since there is only one steering robot that mechanically performs each of these operations, it is possible to save the required installation space and save the installation space as compared with the case where a plurality of dedicated robots are provided, for example. Can be made compact. Further, in the assembling process, it becomes possible to efficiently assemble the parts set in the assembling jig by using the assembling device, which greatly contributes to the improvement of the work efficiency as a whole. .

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a body frame F of a forklift truck.
The top view of the temporary assembly welding line (an example of automatic assembly equipment) A for manufacturing is shown. This temporary assembly welding line A
Are a pair of handling robots (an example of a steering robot) 1 each having a long slide rail 2, a temporary welding portion 3 arranged on the end side of the slide rail 2, and arranged on both sides of the end portion of the slide rail 2. A plurality of robot hands RH1 to RH7, positioning jigs J1 to J4 arranged on one side of the slide rail 2, and a large number of frame members made of a large number of thick steel plates arranged on the other side of the slide rail 2 (an example of parts ) P1 to PN (N is an arbitrary integer).

The outline process of this temporary assembly welding line will be described. The first robot hand RH1 is attached to the tip of the arm 4 of the handling robot 1, and the first frame member P1 is gripped and then carried to the positioning jig J1. The position and orientation of the frame member P1 with respect to the handling robot 1 are set accurately. Then, the handling robot 1 is slid to the end side on the slide rail 2, and the predetermined position of the temporary assembly positioner jig (an example of assembly jig) 6 fixed to the workbench 5 of the temporary welding portion 3 is determined. The frame member P1 is set at a position and tack welding is performed by the tack welding robot (an example of an assembling device) 7 of the tack welding portion 3.

This is a cycle from the removal of one frame member to the completion of temporary assembly welding, and a series of operations by the handling robot 1 are performed by the number of frame members. However, when the frame member changes, the robot hands RH1 to RH7 are replaced and the positioning jig J1 is used.
It includes that J4 is appropriately changed.

Next, the schematic structure of each part will be described.

As shown in FIG. 3, the handling robot 1 is mounted on a slide rail 2 and is capable of sliding movement, and a traveling machine base 8 which is rotatable about the longitudinal axis of the traveling machine base 8. A supported main body 9, an arm portion 10 that is supported so as to be capable of expanding and contracting in a lateral direction obliquely downward with respect to a cylinder portion 9b fixed to an upper portion 9a of the main body 9, and a vertical swing and a horizontal swing on the arm portion 10. Freely supported chuck unit 11
It consists of and. The chuck portion 11 is a place where various robot hands RH1 to RH7 are detachably attached, and any of the robot hands RH1 to RH7 is attached to the frame members P1 to P by an electromagnet (an example of a magnetic attachment means) 23.
10 is magnetically attached and detachable.

The slide rail 2 is constructed by mounting and fixing a pair of left and right rails 12, 12 on the upper surfaces of a plurality of support girders 13 fixed to the floor 14, and the first rail located closest to the start end side. It has a long straight shape extending from the side P of the first member pallet Q1 for the frame member P1 to the position immediately before the temporary weld portion 3. Also, each frame member P1
To P10 are placed on the member pallets Q1 to Q10 in a stacked state.

The positioning jigs J1 to J4 are for grasping an accurate relative positional relationship between the robot hand RH of the handling robot 1 and the frame member P. That is, the six types of robot hands RH1 to RH7 and the ten types of frame members P1 to P10 are, for example, the first robot hand RH1 magnetically carrying the first and second frame members P1 and P2. The combination thereof is determined in advance, and basically, the relative positional relationship between the member pallets Q1 to Q10 and the handling robot 1 at the time of frame magnetic attachment is set.

However, since the relative position between the handling robot 1 and the frame member P in the factory equipment is an approximate one and contains an error, even if it is transferred to the temporary assembly positioner jig 6 as it is. , It is difficult to guide to an accurate set position on control. Therefore, the frame member P magnetically attached to the positioning jig J whose relative position to the slide rail 2 is accurately determined in advance.
By once setting, the relative positional relationship between the handling robot 1 and the frame member P in that state in control is corrected, so that the temporary assembly positioner jig 6 can be accurately aligned and set at a predetermined position. It will be.

In other words, the conventional function of manually setting the frame member on the temporary assembling jig while the operator manually positions it can be mechanized (automated). As an example, FIG.
It is an action figure showing the image which conveys frame member P1 from the 1st pallet Q1 to the 1st positioning jig J1. On the upper surface 16 of the first positioning jig J1, a vertical clamp 19 including a first fixed clamp 17 and a first movable clamp 18 is provided.
And a lateral clamp 22 composed of a second fixed clamp 20 and a second movable clamp 21. Incidentally, this FIG.
In the example shown in (1), the first and second frame members P1 and P2 are placed on the first pallet Q1.

Here, the first frame member P1 is once placed on the jig upper surface 16 and both movable clamps 18 and 21 are moved to be sandwiched by the vertical and horizontal clamps 19 and 22, whereby the first and second fixed clamps 17 are provided. , 20 for positioning in the vertical direction and the horizontal direction for the handling robot 1 and for positioning in the vertical direction for the handling robot 1 by being placed on the jig upper surface 16. As a result, the positional relationship of the first frame member P1 with respect to the handling robot 1, that is, the relative position for control can be accurately obtained, and the first frame member P1 can be moved to a predetermined position on the temporary assembly positioner jig 6. It becomes possible to perform the setting operation accurately at one time without re-moving the handling robot 1 and fine adjustment, or at high speed.

In other words, the positioning jig J corrects the posture and position of the frame member P supported by the handling robot 1 to a predetermined state, and sets the frame member P before setting it on the temporary assembly positioner jig 6. It functions as a means for recognizing the relative positional relationship between P and the handling robot 1.

As shown in FIGS. 1 and 2, the temporary welded portion 3 is
It is configured by a temporary welding robot 7 having a workbench 5, and a temporary assembly positioner jig 6 is positioned and fixed to the workbench 5. All the frame members P1 to P10 are
The temporary assembly positioner jig 6 is positioned and set and temporarily welded and fixed. The workbench 5 is supported by a support arm 27 extending from the main body 28, and the support arm 27 is supported by the main body 28 so as to be pivotally movable around the horizontal axis. As shown in FIG. 1, on the side of the temporary welding portion 3, there is arranged a starting end portion of a traveling rail 15 for a carriage for carrying the vehicle body frame F for which the temporary assembly welding is completed in the main welding process.

FIG. 5 shows an example of an operation of setting the frame member P on the temporary assembly positioner jig 6 by the handling robot 1 in the temporary welding section 3 and the temporary welding robot 7.
FIG. 8 is a schematic operation diagram showing an example of tack welding work by the method.
That is, the body frame f in the assembling state (incomplete state) placed on the workbench 5 (not shown in FIG. 5),
The situation is shown in which a new frame member P13 magnetically attached to the fifth robot hand RH5 is being fitted into the positioning pin struts 24, 24 of the temporary assembly positioner jig 6.

Further, the welding action portion 25 at the tip of the tack welding robot 7 has the eighth frame member P8 and the eleventh frame member P.
It also shows a situation in which the corner portion 26 where 11 and 11 are moved to perform MIG welding. The numbers of the robot hand RH and the frame member P in FIG. 5 are described as appropriate examples.

As described above, by taking out the frame member P from the pallet Q and setting the taken out frame member P on the positioning jig J, the relative positional relationship between the handling robot 1 and the frame member P is determined. This is an automatic assembling method consisting of a positioning step of recognizing and a setting step of setting the positioned frame member P at a predetermined position of the temporary assembly positioner jig 6 by the handling robot 1. The work is repeated for the number of frame members P (N times).

Then, the assembly process of assembling the plurality of frame members P1 to P10 set on the temporary assembly positioner jig 6 by the temporary assembly welding robot 7 is performed, and the temporary assembly welding of the vehicle body frame F is completed. For reference, see FIG.
FIG. 11 shows how the 11th frame member P 11 is assembled by the temporary welding robot 7 to the 8th frame member P 8 set on the temporary assembly positioner jig 6.

The vehicle body frame F, which has been subjected to the temporary assembly welding, has the traveling rail 1 for the carrier which is arranged beside the temporary welding portion 3.
It is carried to No. 5, and is carried to the main welding process.

For reference, FIG. 4 shows an overall perspective view of the forklift after the assembly of the vehicle body frame F is completed.

[Other Embodiments] << 1 >> The steering robot 1 may be a cable car type in which the robot main body 9 is hung and supported by rails suspended from the ceiling and is movable. It doesn't matter. << 2 >> The means for supporting the component P by the robot hand 11 may be a negative pressure due to air suction or a means for gripping by a finger indirect structure. << 3 >> The assembling device 7 can be various ones such as a welding means, a fastening means for integrating parts by bolts, nuts, and screws, a device for press-fitting, caulking, and adhering. << 4 >> Even if temporary tack welding in the temporary weld portion 3 is performed after positioning and setting all the frame members P1 to PN,
Various cases are conceivable, such as one performed each time one frame member P is additionally set, or one performed when an appropriate number of frame members P are set. << 5 >> The number and types of parts P, the number and types of positioning jigs J, and the number and types of robot hands RH, etc. are set appropriately according to the scale of automatic assembly equipment and the target of assembly. Yes, it does not matter how many or what kind.

[0039]

According to the present invention, since a single steering robot can be used to automate a series of handling operations from taking out parts from the pallet to setting the assembly jig at a predetermined position, the assembly can be carried out. Mechanization of the assembling device in the attachment jig was also effective, and it was possible to reduce the labor in the work of assembling multiple parts and improve the assembling efficiency while allowing the equipment space to be compactly assembled. .

Further, in the automatic assembling equipment, before the parts taken out from the pallet are set in the assembling jig, they are set in the positioning tool jig to recognize the relative positional relationship between the parts and the steering robot. As a result, it is possible to improve the accuracy of setting the parts in the assembly jig, or to improve the efficiency by shortening the time required for the positioning and setting, and to strengthen the above effects.

Further, the chuck portion provided in the steering robot makes it possible to change the robot hand to a robot hand according to the component, and it is possible to improve the transfer efficiency with a posture suitable for transferring the component, or to use a jig for assembling. It is possible to improve the precision of the parts setting and the efficiency thereof, and to strengthen the above effects.

Further, since the parts are supported by the chuck part as magnetic attachment means, it is not necessary to modify the parts to support them by the steering robot, and the posture of the parts with respect to the steering robot can be easily accommodated. Benefits were obtained.

Further, by constructing the steering robot with the rail and the robot body that moves along the rail, the degree of freedom in setting the equipment length is high and the positioning accuracy is advantageous.

Further, according to the automatic assembling method, a single steering robot can be used to automatically perform a series of steps from taking out parts from the pallet to setting the assembling jig at a predetermined position. As a result, mechanization of the assembling device in the assembling jig became effective, and it was possible to reduce the labor and improve the assembling efficiency while allowing the equipment space to be compact.

[Brief description of drawings]

1 is a plan view of the entire temporary assembly welding line

FIG. 2 shows an outline of a temporary welded portion, (a) is a front view,
(B) is a side view

FIG. 3 is an operation diagram showing an example of a frame member alignment process by a handling robot.

FIG. 4 is a perspective view showing the entire body frame of the forklift.

FIG. 5 is an operation diagram showing an example of a part setting process of a frame member to a temporary assembly positioner jig.

FIG. 6 is an operation diagram showing a conventional manual setting operation of a frame member on a temporary assembly jig.

FIG. 7 is an operation diagram showing a conventional artificial temporary assembly welding process of a frame member.

[Explanation of symbols] 1 Steering robot 6 Assembly jig 7 Assembly device 9 Robot body 11 Chuck part 12 rails 23 Magnetic means J Positioning jig P parts Q pallet RH robot hand

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Claims (6)

[Claims] 1. An assembling jig, a pallet for placing a plurality of parts to be set on the assembling jig, and a plurality of the parts set on the assembling jig. And an assembling device for assembling the parts, and a single operation capable of executing a handling operation for taking out the parts placed on the pallet and setting them at a predetermined position of the assembling jig for each of the plurality of parts. Automatic assembly equipment equipped with a robot for robots. 2. The relative position relationship between the parts and the steering robot is corrected by correcting the postures and positions of the parts taken out from the pallet to a predetermined state and before setting them on the assembly jig. The automatic assembly facility according to claim 1, further comprising a positioning jig for performing the operation. 3. The steering robot can be equipped with a robot hand that detachably supports the parts, and the robot hand can be replaced with a robot hand suitable for taking out and transferring the parts. The automatic assembly facility according to claim 1 or 2, which is equipped with a chuck portion. 4. The automatic assembly facility according to claim 1, wherein the chuck portion is configured so that the component can be freely supported and released by a magnetic attachment means. 5. The automatic robot according to claim 1, wherein the steering robot includes a rail whose position is fixed and a robot main body which is movable along the rail. Assembly equipment. 6. The steering robot and the parts by taking out the parts placed on the pallet using a single steering robot and setting the taken parts in a positioning jig. A positioning step of recognizing a relative positional relationship with, and a setting step of setting the positioned parts at a predetermined position of an assembling jig by the steering robot,
And an assembling step of assembling a plurality of parts set on the assembling jig by an assembling device.