JP2006043844A - Assembling apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an assembling apparatus, not requiring increase in rigidity of a base as before, facilitating leveling of an assembling work bench, installing a number of assembling tools in a movable range of a robot, and suitable for assembling many kinds of assemblies. <P>SOLUTION: This assembling apparatus 1 includes: assembling robots 11, 12 supported in the suspending state by support members 21, 22; part feeding units 41, 42, 43, 44 for feeding parts to the movable range of the assembling robots 11, 12; and assembling work benches 31, 32, 33 provided in the movable range of the assembling robots 11, 12. The assembling robots 11, 12 take out parts from the part feeding units 41, 42, 43, 44, and perform assembling operation using a number of tools 9 disposed substantially overall on the assembling work benches 31, 32, 33. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an assembling apparatus for assembling an assembly by assembling a plurality of parts.

  2. Description of the Related Art Conventionally, an assembling apparatus that automatically assembles an assembly composed of multi-point parts by a robot is known. For example, in the assembly apparatus described in Patent Document 1, a robot is installed on a base, and an assembly work table is provided between a plurality of bases on which the robot is installed. A plurality of robots are configured to assemble the assembly on the assembly work table while cooperating with each other.

JP 2000-354919 A

  In the conventional assembly apparatus, since the robot is installed on the base, it is necessary to increase the rigidity of the base and keep the upper surface of the base in a horizontal state. Therefore, there has been a problem that the cost of the base itself increases.

  Further, when other bases and assembly work tables are used adjacently, the upper surface of the base needs to be installed on a horizontal plane integrated with the upper surfaces of the other bases and the assembly work table. However, setting the top surface of the base on which the robot is installed on a horizontal surface that is integrated with other bases and the assembly work table requires a considerable amount of time and effort to install the assembly equipment efficiently. There was a problem that could not be done.

  Furthermore, when the robot is installed on the upper surface of the base, the robot has a movable range around the base end attached to the base in a plan view, and the robot hand is accessed near the base end. In general, it is not possible to do this. Therefore, by installing a robot on the base, the space for placing jigs and assembly tools on the upper surface of the base is reduced, and the number and size of jigs and assembly tools that can be placed on the base are reduced. Was to be restricted. Generally, there are few types of assemblies that can be assembled without changing jigs and assembly tools. Conventionally, when assembling other types of assemblies, the jigs and assembly tools placed on the base are replaced. Therefore, there is a problem that the assembly cannot be efficiently changed.

  The present invention has been made to solve the above-described problems, and it is not necessary to increase the rigidity of the base as in the prior art, and it is easy to level the assembly work table, and moreover it is within the movable range of the robot. It is an object of the present invention to provide an assembly apparatus suitable for assembling various kinds of assemblies.

  An assembling apparatus according to the present invention includes an assembling robot supported in a ceiling shape by a predetermined support member, a component supplying unit for supplying parts to the movable range of the assembling robot, and a moving range of the assembling robot. An assembly worktable provided on the assembly worktable, wherein the assembly robot takes out a part from the part supply unit and performs an assembly operation on the assembly worktable.

  In the above assembling apparatus, it is preferable that the assembling robot is supported above the assembling work table.

  In the above assembling apparatus, the component supply unit includes a first component supply unit and a second component supply unit, and the first and second component supply units are arranged to face each other. It is preferable.

  In this case, it is preferable that the assembly work table is disposed between the first and second component supply units.

  Further, in the above assembling apparatus, the support member includes a support column and a beam member extending in a horizontal direction from the support column, and the assembly robot includes a connection portion connected to the beam member, A cable for supplying power to the assembly robot is connected to the connection portion, and the assembly robot can turn with respect to the connection portion, and the connection portion can turn with respect to the beam member. It is preferable that

  Further, in the above assembling apparatus, it is preferable that a monitoring camera is provided so as to take an image of the movable range of the assembling robot.

  Further, in the above assembling apparatus, a plurality of assembly robots are provided, and a part of the movable range of each assembly robot has an overlapping range, and the assembly work table is installed at least in the overlapping range. It is preferred that

  In this case, the assembly work table includes a common assembly work table installed in the overlapping range, and a dedicated assembly work table installed in a movable range of each assembly robot other than the overlapping range. It is preferable to provide.

  In the above assembling apparatus, the first support member that supports the first assembly robot in a suspended manner and the second support member that supports the second assembly robot in a suspended manner are opposed to each other. Each of the first and second support members has a support column and a beam member extending in a horizontal direction from the support column, and the beam member in the first support member It is preferable that the beam member in the second support member is connected by a rod-like connecting member.

  Further, in the above assembling apparatus, the assembly work table includes a joint portion that joins the support member, and the assembly robot is positioned by joining the support member to the joint portion. Preferably it is comprised. Further, in this case, the joint portion has a shape in which cutout portions are formed at four corners of a square in a plan view, and the support pillar of the support member can be accommodated in the cutout portion. preferable.

  Further, in the above assembling apparatus, the assembly work table is formed in a rectangular shape, and the support member is formed by including a support column and a beam member extending in a horizontal direction from the support column. In view, it is preferable that the assembly robot is installed at substantially the center of the assembly work table, and the support column is installed at a corner portion of the assembly work table.

  In the above assembling apparatus, it is preferable that the assembling robot is a robot having at least four degrees of freedom. More preferably, the robot has 6 degrees of freedom.

  According to the present invention, an assembly robot supported in a ceiling-like manner is configured to take out a component from a component supply unit and perform an assembly operation on an assembly work table provided within a movable range of the assembly robot. . Therefore, jigs, assembly tools, and the like can be installed on the entire top surface of the assembly work table, and the assembly apparatus is suitable for assembling various types of assemblies. Further, it is not necessary to obtain rigidity on the assembly work table itself, so that the cost can be reduced and the assembly work table can be easily flattened.

  Further, since the assembly robot is supported above the assembly work table, the assembly work table can be efficiently accessed.

  In addition, the component supply unit includes a first component supply unit and a second component supply unit, and the first and second component supply units are arranged to face each other, so that the assembly robot can handle them. The number of parts that can be increased increases, making it more suitable for assembling various types of assemblies.

  Further, the assembly work table is arranged between the first and second component supply units, so that the assembly robot receives parts from the first and second component supply units and performs the assembly work on the assembly work table. The amount of movement of the arm when performing is minimized, and the assembly work is performed efficiently.

  The support member includes a support column and a beam member extending in a horizontal direction from the support column, and the assembly robot includes a connection portion connected to the beam member, and supplies power to the assembly robot. The cable is connected to the connection part, and the assembly robot can be turned with respect to the connection part, and the connection part can be turned with respect to the beam member to damage the cable. The turning angle of the assembly robot can be increased without any problems.

  In addition, by providing a monitoring camera so as to photograph the movable range of the assembly robot, the situation can be easily grasped even when a trouble occurs in the assembly robot. And we can deal with trouble quickly.

  Further, a plurality of assembly robots are provided, and a part of the movable range of each assembly robot has an overlapping range, and the assembly work table is installed at least in the overlapping range, so that the plurality of assembly robots The assembly work can be performed in cooperation with each other. Then, a more complicated assembly can be assembled.

  Each assembly robot is provided with a shared assembly work table installed in the overlapping range and a dedicated assembly work table installed in a movable range of each assembly robot other than the overlapping range. Can perform both an original assembling operation and an assembling operation performed in cooperation, and an efficient assembling operation can be performed.

  In addition, a first support member that supports the first assembly robot in a ceiling shape and a second support member that supports the second assembly robot in a ceiling shape are arranged to face each other. Each of the two support members includes a support column and a beam member extending in the horizontal direction from the support column. The beam member in the first support member, the beam member in the second support member, and However, the beam members in the first and second support members can be more stably installed by being connected by the rod-like connecting members.

  In addition, the assembly work table has a joint part that joins the support member, and the assembly robot is positioned by joining the support member to the joint part. The robot can be positioned and the installation work of the assembly apparatus can be made efficient.

  Further, the joint portion has a shape in which notches are formed at the four corners of the square in a plan view, and the support column of the support member can be accommodated in the notch, so that the assembly is possible. Equipment installation space can be reduced.

  The assembly work table is formed in a rectangular shape, and the support member is formed of a support column and a beam member extending in a horizontal direction from the support column. Since the support column is installed at the corner of the assembly work table, the support column does not become an obstacle when the assembly robot performs a turning operation, and the assembly robot can smoothly turn. The range that can be operated can be increased.

  Further, since the assembly robot has at least four degrees of freedom, it is possible to take out a part from the part supply unit and place the part on an arbitrary position on the assembly work table. In particular, since the assembly robot is a robot having six degrees of freedom, it is possible to assemble parts from the lateral direction, and the configuration is suitable for manufacturing a complex assembly.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

<First Embodiment>
First, a first embodiment of the present invention will be described. 1 to 3 are perspective views showing an example of the assembling apparatus 1, and each drawing shows a common XYZ three-dimensional coordinate system. 1 shows a state (operation state) in which the component tray is set in the component supply units 41, 42, 43, and 44, and FIG. 2 shows a state in which the component tray is removed. FIG. 3 shows a state before the units constituting the assembling apparatus 1 are assembled together (disassembled state).

  As shown in the drawings, the assembling apparatus 1 includes assembly robots 11 and 12, component supply units 41, 42, 43, and 44 and assembly work tables 31, 32, and 33. In the configuration example shown in FIGS. 1 to 3, two assembly robots 11 and 12 are fixed to the support members 21 and 22 in a suspended manner, and an assembly work table 31 is provided below the assembly robots 11 and 12. , 32, 33 are arranged. In addition, component supply units 41, 42, 43, 44 are arranged adjacent to the assembly work tables 31, 32.

  The support member 21 includes a support column 21a, a beam-like member 21b extending in the horizontal direction from the support column 21a, and a base portion 21c that supports the base end portion of the support column 21a. The assembly robot 11 is fixed to the interior side of the, and supports the assembly robot 11 in a ceiling shape. The support member 22 is configured in the same manner, and includes a support column 22a, a beam-like member 22b, and a base portion 22c. The assembly robot 12 is fixed to the inside of the beam-like member 22b, and the assembly robot 12 is suspended from the ceiling. I support it in the shape. The assembly robots 11 and 12 have the movable spaces in the lower spaces of the beam-like members 21b and 22b, respectively.

  Considering the state where the arm of the assembly robot 11 extends in the vertical direction, the assembly robot 11 has a total of six in which three degrees of freedom of rotation about the vertical axis and three degrees of freedom of rotation about the horizontal axis are combined. This is a ceiling-suspended robot having a degree of freedom, and its arm tip is configured as a mechanical hand to which an assembly tool suitable for various assembly operations can be attached and detached.

  The other assembly robot 12 is a ceiling-suspended robot with a total of four degrees of freedom, which has three degrees of freedom of freedom of rotation around the vertical axis and has a straight degree of freedom that moves along the vertical axis direction at the tip of the arm. . The arm tip of the assembly robot 12 is also configured as a mechanical hand to which an assembly tool suitable for various assembly operations can be attached and detached.

  The assembly work tables 31, 32, and 33 disposed below the assembly robots 11 and 12 are connected and arranged in a line along the arrangement direction of the assembly robots 11 and 12. The assembly work table 31 is disposed directly below the assembly robot 11, and the assembly work table 32 is disposed directly below the assembly robot 12. These assembly work tables 31 and 32 are configured as work tables having a substantially square shape in plan view. The assembly work table 33 is a work table that is disposed between the assembly work tables 31 and 32 and has a rectangular shape in plan view. On the top plates of these assembly work tables 31, 32, 33, a plurality of the same or different jigs 9, assembly tools, etc. used when the robots 11, 12 perform the assembly work are arranged. Therefore, in the assembling apparatus 1, the assembly robots 11, 12 use the various jigs 9 and assembly tools placed on the assembly work tables 31, 32, 33 while using the assembly work tables 31, 32, The assembly operation of an arbitrary assembly is performed on 33.

  The component supply units 41, 42, 43, and 44 include a component tray stacking unit 40a in which a plurality of component trays 8 that accommodate various components of the assembly are stacked in multiple stages, and a plurality of components stacked in the component tray stacking unit 40a. A supply unit 40b is provided that takes out one component tray 8 from among the component trays 8 and inserts the component tray 8 to a position above the ends of the assembly work tables 31 and 32 to supply the component tray 8 to the assembly space. The component supply units 41 and 42 are disposed adjacent to the assembly work table 31 disposed immediately below the assembly robot 11 and are disposed to face each other with the assembly work table 31 interposed therebetween. Then, the component supply units 41 and 42 supply the component tray 8 containing the components handled by the assembly robot 11 within the movable range of the assembly robot 11. The component supply units 43 and 44 are disposed adjacent to the assembly work table 32 disposed immediately below the assembly robot 12 and are disposed so as to face each other with the assembly work table 32 interposed therebetween. Then, the component supply units 43 and 44 supply the component tray 8 containing the components handled by the assembly robot 12 within the movable range of the assembly robot 12.

  As shown in FIG. 3, the assembling apparatus 1 includes a robot unit in which the assembly robots 11 and 12 are supported by the support members 21 and 22 in a suspended manner, assembly work tables 31, 32, and 33, and component supply. The units 41, 42, 43, and 44 are configured as independent units. When the assembly apparatus 1 is actually used, these units are combined with each other and fixed in the above-described arrangement relationship.

  The specific installation work proceeds in the following procedure. First, assembly work tables 31, 32, and 33 are installed, and a leveling operation is performed so that the upper surface of each work table can be regarded as a uniform horizontal surface. When the installation of the assembly work tables 31, 32, 33 is completed, the component supply units 41, 42, 43, 44 are installed adjacent to the assembly work tables 31, 32, 33. Finally, the robot unit is installed adjacent to the assembly work tables 31 and 32.

  A wheel (not shown) is provided on the lower surface of each unit so that it can be moved relatively easily, and the position of each unit can be fixed by fixing the wheel at the time of installation or by fixing with other fixing legs. Can be fixed. In particular, the base portion 21 c of the support member 21 enters a lower space of the assembly work table 31, and the assembly robot 11 is fixed at an upper position of the assembly work table 31. Similarly, the base portion 22 c of the support member 22 enters the lower space of the assembly work table 32, and the assembly robot 12 is fixed at an upper position of the assembly work table 32.

  By thus supporting the assembly robots 11 and 12 in a suspended manner, the robot unit can be docked to the assembly work tables 31, 32 and 33 at the final stage of the installation work of the assembly apparatus 1. The presence of the assembly robots 11, 12 does not get in the way at the initial stage of the installation work 1, and the installation work of the assembly apparatus 1 is remarkably simplified as compared with a stationary robot.

  FIG. 4 is a plan view of the assembling apparatus 1 in a state where each unit is assembled. In FIG. 4, the movable range of the assembly robot 11 in the XY plane is indicated by R1, and the movable range of the assembly robot 12 is indicated by R2.

  In the assembling apparatus 1, the movable range R <b> 1 of the assembling robot 11 covers almost the entire upper surface of the assembling work table 31, and the component tray 8 supplied to the upper part of the assembling work table 31 by the component supply units 41 and 42. The assembly robot 11 can access (illustrated by a wavy line in FIG. 4). The jig 9 installed on the assembly work table 31 is a jig dedicated to the assembly robot 11. Therefore, the assembly work table 31 is a dedicated assembly work table for the assembly robot 11.

  The movable range R2 of the assembly robot 12 is configured to cover almost the entire upper surface of the assembly work table 32. The assembly robot 12 can access the component tray 8 (shown by a wavy line in FIG. 4) supplied to the upper part of the assembly work table 32 by the component supply units 43 and 44, and the components in the tray can be accessed. Can be taken out. The jig 9 installed on the assembly work table 32 is a jig dedicated to the assembly robot 12, and the assembly work table 32 is a dedicated assembly work table for the assembly robot 12.

  In the assembly apparatus 1, the movable range R1 of the assembly robot 11 and the movable range R2 of the assembly robot 12 have an overlapping range R3 that overlaps each other. The overlapping range R3 is a space where the two assembly robots 11 and 12 can perform an assembly operation in cooperation. The assembly work table 33 is disposed in the overlapping range R3, and both the assembly robots 11 and 12 can access the assembly work table 33. Therefore, the jig 9 installed on the assembly workbench 33 is a jig common to the two assembly robots 11 and 12, and the assembly workbench 33 serves as a common assembly workbench for the assembly robots 11 and 12. ing.

  In the present embodiment, the assembly robots 11 and 12 are supported in a ceiling shape, and the jig 9, the assembly tool, or the assembly is only placed on the assembly work tables 31, 32, and 33. In other words, the assembly work tables 31, 32, and 33 are only mounted with extremely light weights (jigs, assembly tools, or assemblies) as compared to the assembly robots 11 and 12. There is no need to increase the rigidity. Therefore, the cost of the assembly work tables 11 and 12 can be reduced.

  Further, assuming that the assembly work tables 31, 32, 33 are formed in the same size as the conventional base, there is no need to install a robot on the assembly work tables 31, 32, 33 of this embodiment. The upper surface can be used effectively, and more jigs 9 and assembly tools can be installed than before. Therefore, it becomes possible to handle more parts than before, and the number of items that can be assembled can be increased. Moreover, it is not necessary to frequently replace the jig 9 and the like, and the operation efficiency of the assembling apparatus 1 can be improved.

  Further, as described above, when the plurality of assembly work tables 31, 32, 33 are installed adjacent to each other, leveling is performed so that the respective top plates are in the same horizontal plane. By doing so, it is necessary to convert the coordinate system for each work table even when each assembly robot 11, 12 performs an assembly operation using both the dedicated assembly work table and the common assembly work table. Thus, the operation of the assembling apparatus 1 can be started immediately. In the present embodiment, since the assembly robots 11 and 12 are not installed on the assembly work tables 31, 32, and 33, the leveling operation is extremely simple, and the installation operation of the assembly apparatus 1 can be performed efficiently. There is an advantage that can be done.

  In addition, since the assembly work tables 31 and 32 on which the robot units are installed adjacently have a substantially square shape in plan view, the robot unit can be docked from any of the four directions of the assembly work tables 31 and 32. The arrangement configuration of the assembling apparatus 1 can be changed flexibly.

  Next, FIG. 5 is a side view showing a configuration example of the assembly robot 11 having six degrees of freedom. The electrical cable connected to the assembly robot 11 and the turning operation of the robot will be described with reference to FIG.

  As shown in FIG. 5, in the assembly robot 11, the fixing member 11c, the connecting member 11b, and the robot base end portion 11a are connected in this order to the lower surface of the plate-like member provided inside the beam-like member 21b. The connecting member 11b is connected to an electrical cable 11d for supplying power and supplying control signals to the assembly robot 11.

  In such a configuration, a case is considered in which the fixing member 11c and the connecting member 11b are fixed to the beam-like member 21b, and only the robot base end portion 11a rotates with respect to the vertical axis α1. The electric cable 11d connected to the connecting member 11b passes through the inside of the connecting member 11b and is connected to the inner side of the robot base end portion 11a. This internally wired cable is generally accommodated in a state where there is not much room in length. Therefore, when only the robot base end portion 11a performs the turning operation about the vertical axis α1, the electric cable wired inside the connecting member 11b is twisted, and if the turning operation of a predetermined amount or more is performed, a problem such as disconnection occurs. May occur. Therefore, when only the robot base end portion 11a performs a turning operation around the vertical axis α1, the robot arm on the distal end side from the robot base end portion 11a cannot perform a turning operation of a predetermined angle or more. For example, if the turning angle of the robot base end portion 11 a is in a range of less than 360 °, the arm distal end portion cannot access almost the entire upper surface of the assembly work table 31.

  Therefore, in the present embodiment, the electric cable 11d connected to the connection member 11b is provided so as to have a predetermined amount of deflection or more, and the connection member 11b performs a turning operation with respect to the fixing member 11c (beam member 21b). Configured to do. The turning operation of the connecting member 11b with respect to the fixing member 11c is performed around the vertical axis α2. With such a configuration, even when the turning angle of the robot base end portion 11a is limited, turning the connecting member 11b causes the arm tip portion to turn more than 360 °. It is possible to make it possible to access almost the entire upper surface of the assembly work table 31. Accordingly, as shown in FIG. 5, when the electric cable 11d is provided closer to the fixed part than the robot base end part 11a that performs the main turning operation, the connecting member 11b to which the electric cable 11d is connected is connected. By making the secondary turn, it is possible to secure a wide access area of the arm tip while preventing disconnection of the cable.

  The driving means for turning the connecting member 11b as a secondary may be performed by, for example, a motor provided inside the connecting member 11b, or an external motor attached to the beam-like member 21b. There may be a mechanism that turns the entire assembly robot 11. Further, the assembly robot 11 is not limited to the assembly robot 11 having 6 degrees of freedom, and the same applies to the assembly robot 12 having 4 degrees of freedom. Further, the secondary turning operation preferably has a turning angle of about 180 °.

  As described above, in the assembling apparatus 1 according to the present embodiment, the assembling robots 11 and 12 are supported by the support members 21 and 22 in a suspended manner, and the space below the assembling robots 11 and 12 is prevented from accessing the robot arm. There will be no obstacles. Therefore, the assembly robots 11 and 12 can effectively use the lower space supported in a suspended manner as a work space for the assembly operation, and the assembly work table provided within the movable range of the assembly robots 11 and 12. Assembly work can be performed using almost the entire surface of 31, 32, 33. As a result, the types and the number of jigs 9 and the like that can be installed on the assembly work tables 31, 32, and 33 can be increased, and the assembly is efficiently suitable for assembling various types of assemblies.

  In the assembly apparatus 1, the component supply units 41 and 42 are disposed so as to face each other, and each of the component supply units 41 and 42 supplies components within the movable range of the assembly robot 11. The number of parts and types of parts supplied within the range are increased. Similarly, the component supply units 43 and 44 are also arranged to face each other, and each of the component supply units 43 and 44 supplies the components within the movable range of the assembly robot 12. The number of parts and types of parts to be supplied are increased. Therefore, the assembly apparatus 1 is more suitable for assembling various kinds of assemblies by the arrangement of the component supply units 41, 42, 43, and 44.

  Further, the assembly work table 31 is disposed between the component supply units 41 and 42, and the assembly work table 32 is disposed between the component supply units 43 and 44. The amount of movement of the arm when receiving parts from 42, 43, 44 and performing assembly work on the assembly work tables 31, 32 is minimized. Therefore, the assembly work is performed efficiently.

  Further, in the present embodiment, a part of the movable range of the assembly robots 11 and 12 has an overlapping range R3 that overlaps each other, and the assembly work table 33 shared by the assembly robots 11 and 12 is installed in the overlapping range R3. Thus, the two assembly robots 11 and 12 can cooperate to perform assembly work of the assembly, and even a complex assembly can be assembled.

<Second Embodiment>
Next, a second embodiment will be described. 6 to 8 are diagrams showing a configuration example of the assembling apparatus 1a according to the second embodiment. In addition, in each figure, the same code | symbol is attached | subjected to the structural member similar to 1st Embodiment.

  In the present embodiment, monitoring cameras 51 and 52 are provided on the beam-like members 21b and 22b that support the assembly robots 11 and 12 in a suspended manner so as to photograph the movable range of the assembly robots 11 and 12, respectively.

  As shown in FIG. 7, the monitoring camera 51 is attached to the distal end portion of the beam-like member 21 b that supports the assembly robot 11 and is configured to photograph a lower space in which the assembly robot 11 operates. The monitoring camera 52 has the same attachment mode, and is attached to the distal end portion of the beam-like member 22b that supports the assembly robot 12 and is configured to photograph a lower space in which the assembly robot 12 operates.

  FIG. 8 is a plan view of the assembling apparatus 1a. The monitoring camera 51 puts the movable range R1 of the assembly robot 11 in its shooting range, and the monitoring camera 52 puts the movable range R2 of the assembly robot 12 in its shooting range. In addition, the monitoring cameras 51 and 52 store an overlapping region R3 where the movable ranges of the assembly robots 11 and 12 overlap in the imaging range. Therefore, each of the monitoring cameras 51 and 52 can monitor the operation state of the assembly robots 11 and 12 and can easily grasp the situation even when a trouble occurs in the assembly robots 11 and 12. In particular, if it is configured to record the video imaged by the monitoring cameras 51 and 52, it is possible to check the video image at the time of trouble occurrence, so that quick maintenance is possible.

  When one surveillance camera can sufficiently cover the movable ranges R1 and R2 of the two assembly robots 11 and 12, only one of the surveillance cameras 51 and 52 needs to be installed. .

  As described above, the assembling apparatus 1a according to the present embodiment includes the monitoring cameras 51 and 52 that capture images within the movable range of the assembling robots 11 and 12, so that the cause when a trouble occurs can be easily grasped and quickly. It is more useful than the assembling apparatus 1 shown in the first embodiment in that a trouble can be dealt with.

<Third Embodiment>
In the present embodiment, some variations regarding the arrangement of the units of the assembling apparatuses 1 and 1a described in the first and second embodiments will be described. In the present embodiment as well, the same components as those described in the first embodiment are denoted by the same reference numerals.

  FIG. 9 and FIG. 10 are diagrams showing an assembling apparatus 1b in which an assembling robot 11 having 6 degrees of freedom is supported in a suspended manner with respect to each of the supporting members 21 and 22 described in the first embodiment. FIG. 9 shows a state in which the units are assembled, and FIG. 10 shows a state before the units constituting the assembling apparatus 1b are assembled together (disassembled state). As shown in these drawings, in this unit arrangement form, the two assembly robots are both robots having six degrees of freedom.

  The assembly robot 11 having six degrees of freedom can assemble components from the lateral direction, and is therefore a robot suitable for complex assembly work. Therefore, the assembling apparatus 1b has a unit configuration suitable for manufacturing a complex assembly.

  Note that an assembly robot having four degrees of freedom is suitable for assembly work in the vertical direction. Therefore, which assembly robot of 4 degrees of freedom or 6 degrees of freedom to use is determined by the assembly operation required to obtain the final assembly. Therefore, the arrangement of the assembly robot is not necessarily limited.

  However, the assembly robot must perform a minimum operation of taking out the parts from the part supply units 41, 42, 43, and 44 and placing the parts on arbitrary positions on the assembly work tables 31, 32, and 33. Therefore, it is preferable to perform an operation with at least four degrees of freedom.

  Another variation will be described. FIG. 11 and FIG. 12 are diagrams showing an assembling apparatus 1c in which the assembling robots 11 and 12 are not provided with the dedicated assembling work tables 31 and 32 but are provided with only the common assembling work table 33. FIG. FIG. 12 shows a state in which the units are assembled, and FIG. 12 shows a state before the units constituting the assembly apparatus 1c are assembled together (disassembled state).

  For example, when there is no need for the assembly robots 11 and 12 to perform their own assembly work using the dedicated jig 9 or the like, the dedicated assembly worktable is not provided as shown in FIGS. Only the common assembly work table 33 may be provided.

  Still another variation will be described. FIG. 13 and FIG. 14 are diagrams showing an assembly apparatus 1d when one component supply unit for supplying components to each assembly robot 11 and 12 is provided. FIG. 13 shows a state in which each unit is assembled. FIG. 14 shows a state before the units constituting the assembly apparatus 1d are assembled together (disassembled state).

  For example, when the number of parts used by each of the assembly robots 11 and 12 is small, the parts supply units 41, 42 and 43, 44 do not need to be opposed to each other as described above, and 1 for each robot. What is necessary is just to provide the component supply units 41 and 43 for every stand. Therefore, the configuration shown in FIGS. 13 and 14 is suitable for a case where the number of parts is small.

  13 and 14, the dedicated assembly work tables 31 and 32 may be arranged corresponding to the assembly robots 11 and 12.

  As mentioned above, although the some variation regarding unit arrangement | positioning of the assembling apparatuses 1 and 1a which concern on 1st and 2nd embodiment was illustrated, the arrangement | positioning aspect of this invention is not limited to what was mentioned above. The arrangement mode of each unit can be changed as appropriate according to the number of parts of the assembly, the mode of assembly work, and the like.

<Fourth embodiment>
Next, a fourth embodiment will be described. FIG. 15 to FIG. 17 are diagrams showing a configuration example of the assembling apparatus 1e according to the fourth embodiment. In addition, in each figure, the same code | symbol is attached | subjected to the structural member similar to 1st Embodiment.

  As shown in each figure, in the assembling apparatus 1e according to the present embodiment, the beam-like members 21b and 22b of the support members 21 and 22 are formed in a substantially L shape in plan view, and the L-shaped beam-like member 21b. , 22b are attached to one end of the support pillars 21a, 22a, and the assembly robots 11, 12 are fixed to the other end in a suspended manner. Specifically, the beam-like member 21b is fixed to the upper end of the support column 21a, is fixed to the first member 211 extending in the Y direction, and is fixed to the front end side portion of the first member 211, and extends in the −X direction. The assembly robot 11 is attached to the tip of the second member 212 in a ceiling shape. Similarly, the beam-like member 22b is fixed to the upper end of the support column 22a, is fixed to the first member 221 extending in the −Y direction, and is fixed to the tip side portion of the first member 221, and is extended in the X direction. The assembly robot 12 is attached to the tip of the second member 222 in a suspended manner.

  The second member 212 of the support member 21 and the second member 222 of the support member 22 are arranged so as to be positioned on the same straight line, and the two beam-like members 21b and 22b are connected and fixed to each other by the rod-like connecting member 23. (See FIG. 15). Thereby, the beam-like members 21b and 22b become more stable.

  By configuring the support members 21 and 22 as described above, the support columns 21a and 22a for supporting the assembly robots 11 and 12 can be arranged at the corner portions of the assembly work tables 31 and 33. .

  In the present embodiment, the assembly work tables 31 and 33 have a shape in which corner portions (four corners) having a substantially square shape are cut out in plan view, and support pillars 21a and 21a are formed on the cutout portions at the four corners. 22a can be accommodated.

  Therefore, in this embodiment, it can prevent that the support pillars 21a and 22a protrude in the + X direction side or the -X direction side, and the installation space of the assembling apparatus 1e can be reduced.

  Further, the notches at the four corners of the assembly work tables 31 and 33 accommodate the support columns 21a and 22a and are joined to the support columns 21a and 22a, whereby the support members 21 and 22 can be easily positioned. It also has a function as a positioning mechanism.

  Further, by configuring the support members 21 and 22 as described above, the support columns 21a and 22a can be disposed outside the movable ranges R1 and R2 of the assembly robots 11 and 12, as shown in FIG. Further, it is possible to suppress the support pillars 21a and 22a from becoming obstacles during the turning operation of the assembly robots 11 and 12, and to realize a smooth turning operation. In other words, by forming the beam-like members 21b and 22b of the support members 21 and 22 in a substantially L shape, the radius of the movable ranges R1 and R2 of the assembly robots 11 and 12 can be made relatively large, and the assembly robot 11 and 12 can be configured to widen the movable ranges R1 and R2 in which the turning operation can be smoothly performed.

  As described above, in the assembly apparatus 1e of the present embodiment, the beam member 21b of the support member 21 and the beam member 22b of the support member 22 are connected by the connecting member 23, so that the assembly robots 11 and 12 are supported. The stability of the beam-like members 21b and 22b to be improved can be improved.

  Further, in the present embodiment, the assembly work tables 31 and 32 have a shape in which cutout portions are formed at four corners of a square in a plan view, and the support members 21 and 22 are formed with respect to the cutout portions. It is comprised so that support pillar 21a, 22a can be accommodated. Therefore, the installation space for the assembly apparatus 1e can be reduced.

  Furthermore, in this embodiment, the beam-like members 21b and 22b supported by the support columns 21a and 22a are formed in a substantially L shape in plan view, and the support columns 21a and 22a are corners of the assembly work table in plan view. Therefore, the support pillars 21a and 22a are not obstructed during the turning operation of the assembly robots 11 and 12, and the range in which the assembly robots 11 and 12 can smoothly turn can be increased. In particular, this structure is provided with notches at the four corners of the assembly work tables 31 and 32, and the structure in which the support columns 21a and 22a are accommodated in the notches, while reducing the installation space. In this structure, the movable ranges R1 and R2 of the assembly robots 11 and 12 can be enlarged.

<Fifth embodiment>
In the present embodiment, some variations related to the arrangement of the units of the assembling apparatus 1e described in the fourth embodiment will be described. In the present embodiment, the same components as those described in the first and fourth embodiments are denoted by the same reference numerals.

  FIGS. 18 and 19 are diagrams showing an assembling apparatus 1f in which an assembling robot 11 having six degrees of freedom is supported in a suspended manner with respect to each of the supporting members 21 and 22 described in the fourth embodiment. FIG. 18 shows a state in which the units are assembled, and FIG. 19 shows a state before the units constituting the assembling apparatus 1f are assembled together (disassembled state). As shown in these drawings, in this unit arrangement form, the two assembly robots are both robots having six degrees of freedom.

  The assembly robot 11 having six degrees of freedom can assemble components from the lateral direction, and is therefore a robot suitable for complex assembly work. Therefore, the assembling apparatus 1f has a unit configuration suitable for manufacturing a complex assembly.

  Note that an assembly robot having four degrees of freedom is suitable for assembly work in the vertical direction. Therefore, which assembly robot of 4 degrees of freedom or 6 degrees of freedom to use is determined by the assembly operation required to obtain the final assembly. Therefore, the arrangement of the assembly robot is not necessarily limited.

  However, the assembly robot must perform a minimum operation of taking out the parts from the part supply units 41, 42, 43, and 44 and placing the parts on arbitrary positions on the assembly work tables 31, 32, and 33. Therefore, it is preferable to perform an operation with at least four degrees of freedom.

  Another variation will be described. 20 and 21 are diagrams showing an assembling apparatus 1g in which the assembling robots 11 and 12 are not provided with the dedicated assembling work tables 31 and 32 but are provided with only the common assembling work table 33. FIG. FIG. 21 shows a state in which the units are assembled, and FIG. 21 shows a state before the units constituting the assembly apparatus 1g are assembled together (disassembled state). For example, when there is no need for the assembly robots 11 and 12 to perform their own assembly work using the dedicated jig 9 or the like, the dedicated assembly worktable is not provided as shown in FIGS. Only the common assembly work table 33 may be provided.

  Still another variation will be described. FIGS. 22 and 23 are diagrams showing an assembly apparatus 1h in the case where one component supply unit for supplying components to each assembly robot 11 and 12 is provided. FIG. 22 shows a state in which each unit is assembled. FIG. 23 shows a state before the units constituting the assembly apparatus 1h are assembled together (disassembled state).

  For example, when the number of parts used by each of the assembly robots 11 and 12 is small, the parts supply units 41, 42 and 43, 44 do not need to be opposed to each other as described above, and 1 for each robot. What is necessary is just to provide the component supply units 41 and 43 for every stand. Therefore, the configuration shown in FIGS. 22 and 23 is suitable for a case where the number of parts is small.

  22 and 23, the dedicated assembly work tables 31 and 32 may be arranged corresponding to the assembly robots 11 and 12, respectively.

  As mentioned above, although the some variation regarding unit arrangement | positioning of the assembling apparatus 1e which concerns on 4th Embodiment was illustrated, the arrangement | positioning aspect of this invention is not limited to what was mentioned above. The arrangement mode of each unit can be changed as appropriate according to the number of parts of the assembly, the mode of assembly work, and the like. Further, as described in the second embodiment, it is possible to provide a monitoring camera so as to photograph the operation space of the assembly robots 11 and 12.

<Sixth Embodiment>
Next, a sixth embodiment will be described. In this embodiment, the support member 21 is joined to two adjacent cutouts among the cutouts at the four corners of the assembly work table 31 that functions as a positioning mechanism, thereby positioning the assembly robot. A configuration that can be performed with high accuracy will be described.

  24 and 25 are diagrams showing a configuration example of the assembling apparatus 1i in the sixth embodiment. FIG. 24 shows a state where the robot unit and the assembly work table are separated, and FIG. 25 shows the robot. The state which attached the unit and the assembly work table is shown. In addition, in each figure, the same code | symbol is attached | subjected to the structural member similar to 1st Embodiment.

  In the present embodiment, the support columns 21a of the support member 21 are juxtaposed at substantially the same interval as the width of the assembly work table 31, and are assembled by the beam-like member 21b provided at the upper end of the juxtaposed support columns 21a. The robot 11 has a structure that is supported by a ceiling. And the positioning part 21d joined with the positioning mechanism 31a of the assembly work table 31 is protrudingly provided in the horizontal direction in the two predetermined height positions of each support pillar 21a.

  Then, as shown in FIG. 25, by pushing the support member 21 toward the assembly work table 31, the positioning portion 21d formed on the support column 21a enters the positioning mechanism 31a, and the support member is in a state where they are joined to each other. 21 is fixed. At this time, the position of the robot unit with respect to the assembly work table 31 (more precisely, the position of the assembly robot 11) is positioned in a predetermined state, and the assembly robot 11 can be installed relatively easily.

  Therefore, the assembling apparatus 1i according to the present embodiment has the joining portion 31a where the assembly work table 31 is joined to the support member 21, and the assembly robot 11 is joined by joining the support member 21 to the joining portion 31a. The structure is such that positioning is performed. Therefore, the installation work of the assembly robot 11 can be easily performed.

  Moreover, since the joining of the support member 21 and the assembly work table 31 is performed at both ends of the assembly work table 31 in a plan view, compared to the positioning method in one place as in the fourth embodiment, The assembly robot 11 can be positioned with high accuracy.

  Also in the present embodiment, the assembly robot 11 is installed in the approximate center of the assembly work table 31 in a plan view, and the support column 21a is installed in a corner portion of the assembly work table 31 in a plan view. Therefore, the assembling apparatus 1i according to the present embodiment is also configured so that the support column 21a does not become an obstacle when the assembling robot performs the turning operation, and the range in which the assembling robot can smoothly perform the turning operation can be increased. Has been.

<Seventh embodiment>
In the present embodiment, a mode for realizing the unit arrangement described in the first or fourth embodiment while applying the positioning mechanism shown in the sixth embodiment will be described.

  FIG. 26 and FIG. 27 are diagrams showing a configuration example of the assembling apparatus 1j according to the seventh embodiment. FIG. 26 shows a state in which each unit is separated, and FIG. 27 shows a state in which each unit is assembled. Is shown. In addition, in each figure, the same code | symbol is attached | subjected with respect to the structural member similar to embodiment mentioned above.

  In the present embodiment, positioning portions 21d are formed with respect to the support member 21 disposed adjacent to the assembly work table 31, and positioning mechanisms 31a that are joined to the positioning portions 21d are formed at the four corners of the assembly work table 31. Has been. Positioning portions 22d are formed on the support member 22 disposed adjacent to the assembly worktable 32, and positioning mechanisms 32a that are joined to the positioning portions 22d are formed at the four corners of the assembly worktable 32.

  Then, when assembling each unit, the positioning devices 21d and 22d are installed so as to be joined to the corresponding positioning mechanisms 31a and 32a, whereby the assembling apparatus 1j as shown in FIG. 27 can be easily assembled. It becomes like this.

  Therefore, the positioning mechanism described in the sixth embodiment exhibits the expected effect regardless of the mode of unit arrangement in the assembling apparatus.

  As mentioned above, although several embodiment regarding this invention was described, this invention is not limited to the above-mentioned thing, In addition to the structure mentioned above, various deformation | transformation structures can be employ | adopted suitably. Of course.

It is a perspective view which shows an example of the assembly apparatus with which the component tray was set. It is a figure which shows the assembly apparatus of the state which removed the component tray. It is a figure which shows the state before assembling | attaching an assembly apparatus integrally. It is a top view of the assembly apparatus in the state where each unit was assembled. It is a side view which shows one structural example of the assembly robot which has 6 degrees of freedom. It is a figure which shows the example of 1 structure of the assembly apparatus provided with the monitoring camera. It is a figure which shows the example of 1 structure of the assembly apparatus provided with the monitoring camera. It is a figure which shows the example of 1 structure of the assembly apparatus provided with the monitoring camera. It is a figure which shows the variation of the unit arrangement | positioning of 1st Embodiment. It is a figure which shows the variation of the unit arrangement | positioning of 1st Embodiment. It is a figure which shows another variation of the unit arrangement | positioning of 1st Embodiment. It is a figure which shows another variation of the unit arrangement | positioning of 1st Embodiment. It is a figure which shows another variation of the unit arrangement | positioning of 1st Embodiment. It is a figure which shows another variation of the unit arrangement | positioning of 1st Embodiment. It is a perspective view which shows an example of the assembly apparatus of 4th Embodiment. It is a figure which shows the state before assembling | attaching the assembly apparatus of 4th Embodiment integrally. It is a schematic plan view of the assembly apparatus of 4th Embodiment. It is a figure which shows the variation of the unit arrangement | positioning of 4th Embodiment. It is a figure which shows the variation of the unit arrangement | positioning of 4th Embodiment. It is a figure which shows another variation of the unit arrangement | positioning of 4th Embodiment. It is a figure which shows another variation of the unit arrangement | positioning of 4th Embodiment. It is a figure which shows another variation of the unit arrangement | positioning of 4th Embodiment. It is a figure which shows another variation of the unit arrangement | positioning of 4th Embodiment. It is a figure which shows the example of 1 structure of the assembly apparatus in 6th Embodiment. It is a figure which shows the example of 1 structure of the assembly apparatus in 6th Embodiment. It is a figure which shows the example of 1 structure of the assembly apparatus in 7th Embodiment. It is a figure which shows the example of 1 structure of the assembly apparatus in 7th Embodiment.

Explanation of symbols

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, 1i, 1j Assembly device 11, 12 Assembly robot 21, 22 Support member 21a, 22a Support column 21b, 22b Beam-like member 21d, 22d Positioning unit 31 , 32 Assembly work table (dedicated work table)
31a, 32a Positioning mechanism (joint)
33 Assembly worktable (shared assembly worktable)

Claims (14)

An assembly robot supported in a ceiling-like manner by a predetermined support member;
A component supply unit that supplies components to the movable range of the assembly robot;
An assembly worktable provided within a movable range of the assembly robot;
With
The assembling apparatus, wherein the assembling robot takes out a part from the parts supplying unit and performs an assembling operation on the assembling work table. The assembly apparatus according to claim 1, wherein
The assembling apparatus, wherein the assembling robot is supported above the assembling work table. The assembly apparatus according to claim 1 or 2,
The component supply unit includes a first component supply unit and a second component supply unit, and the first and second component supply units are arranged to face each other. The assembly apparatus according to claim 3, wherein
The assembly apparatus, wherein the assembly work table is disposed between the first and second component supply units. The assembly apparatus according to claim 3 or 4,
The support member includes a support column and a beam member extending in a horizontal direction from the support column,
The assembly robot includes a connection portion connected to the beam member, and a cable for supplying power to the assembly robot is connected to the connection portion, and the assembly robot can turn with respect to the connection portion. And the connecting portion is pivotable with respect to the beam member. The assembly apparatus according to any one of claims 1 to 5,
An assembling apparatus, further comprising a monitoring camera provided to take an image of a movable range of the assembling robot. The assembly apparatus according to any one of claims 1 to 6,
A plurality of the assembly robots are provided, a part of a movable range of each assembly robot has an overlapping range that overlaps each other, and the assembly work table is installed at least in the overlapping range. . The assembly apparatus according to claim 7, wherein
The assembly workbench includes a shared assembly workbench installed in the overlapping range and a dedicated assembly workbench that is a movable range of each assembly robot and is installed in a range other than the overlapping range. Assembly equipment. The assembly apparatus according to any one of claims 1 to 4,
A first support member that supports the first assembly robot in a ceiling shape and a second support member that supports the second assembly robot in a ceiling shape are arranged to face each other, and the first and second components are arranged to face each other. The support members each include a support column and a beam member extending in a horizontal direction from the support column, and the beam member in the first support member and the beam member in the second support member. An assembly apparatus, wherein a beam member is connected by a bar-shaped connecting member. The assembly apparatus according to any one of claims 1 to 9,
The assembly apparatus according to claim 1, wherein the assembly work table includes a joint portion that joins the support member, and the assembly robot is positioned by joining the support member to the joint portion. The assembly apparatus according to claim 10, wherein
The joining portion has a shape in which cutout portions are formed at four corners of a square in a plan view, and can accommodate a support column of the support member in the cutout portion. . The assembly apparatus according to any one of claims 1 to 11,
The assembly work table is formed in a rectangular shape, and the support member is provided with a support column and a beam member extending in a horizontal direction from the support column,
The assembly apparatus, wherein the assembly robot is installed at a substantially center of the assembly work table in plan view, and the support column is installed at a corner portion of the assembly work table. The assembly apparatus according to any one of claims 1 to 12,
The assembly apparatus is characterized in that the assembly robot has at least four degrees of freedom. The assembly apparatus according to claim 13,
The assembly apparatus is characterized in that the assembly robot has six degrees of freedom.

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