JP2006044601A - Conveying/installation system - Google Patents

Conveying/installation system Download PDF

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Publication number
JP2006044601A
JP2006044601A JP2004231956A JP2004231956A JP2006044601A JP 2006044601 A JP2006044601 A JP 2006044601A JP 2004231956 A JP2004231956 A JP 2004231956A JP 2004231956 A JP2004231956 A JP 2004231956A JP 2006044601 A JP2006044601 A JP 2006044601A
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area
person
work
coexistence type
installation device
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JP2004231956A
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Masaru Maruo
Yoshito Otake
Tetsuya Ozawa
Takao Shibayama
勝 丸尾
義人 大竹
哲也 小澤
孝男 柴山
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Honda Motor Co Ltd
本田技研工業株式会社
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y02P90/04Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] characterised by the assembly processes

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveying/installation system in which a person coexistence type installation device and a working area coexisting with a worker are efficiently distributed. <P>SOLUTION: At the working area, area A1 where the work is performed while the person coexistence type installation device R and the worker SS cooperate with each other; area A2 where the person coexistence type installation device is singly moved; and areas A3 and A4 where the worker singly performs the work during when the person coexistence type installation device R is singly moved exist. Further, at the working area, a main line ML where a vehicle body W is moved to an arrow direction (left direction) in the state it is hung down; a sub-line SL where the person existence type installation device R is traveled; a tank placement base TB; a tank storage shelf TT; and a part placement base BB are provided. The main line ML is partly overlapped with the area A1, the sub-line SL is perpendicular to the main line ML and a part thereof is provided in parallel to the main line ML. The sub-line SL is overlapped with the area A2 where the person coexistence type installation device is singly moved. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は作業者と人共存型組付装置とが共存する搬送・組付けシステムに関する。 The present invention relates to a system assembled transport and coexist with workers and human coexistence type assembling apparatus.

作業者とロボットとが共存する搬送・組付けシステムとしては、特許文献1に開示される移動ロボットシステムが知られている。 The transport and assembly systems and operator and the robot coexist, the mobile robot system is known as disclosed in Patent Document 1. この先行技術には、ワークを受け取る設備1と、ワークを加工する設備2と、搬送コンベアからなる設備3との間にロボットを移動可能に配置し、設備1で受け取ったワークを設備2で加工し、加工後のワークを再びロボットによって設備3に受け渡すシステムが開示され、特に、前記設備1,3については作業者とロボットが共存するエリアとし、このエリアではロボットのモータ駆動回路にトルクリミッタ設け、ロボットのアームを駆動するモータの出力を80W以下とし、作業者の安全を図っている。 The prior art process and equipment 1 for receiving a workpiece, and equipment 2 to machine the workpiece, arranged movably robot between the facility 3 made of conveyor, the received at facility 1 works in equipment 2 and passes to the equipment 3 by the workpiece after machining again robot system is disclosed, in particular, the Common facilities 1,3 is an area to coexist operator and the robot, the torque limiter to a motor drive circuit in this area robot provided, the output of the motor for driving the arm of the robot and less 80W, thereby achieving the safety of workers.

また特許文献2には、車両組立ラインにおいて、車体を搬送しつつ、各種部品を取付けていく際に、部品が重量物である場合にはマニピュレータで当該重量物を支持し、作業者が重量物に間接的に加える力を力センサにより検出し、その情報をもとにマニピュレータを制御して人手にかかる負荷を軽減させる補助装置を用いて取付ける技術が知られている。 Further, Patent Document 2, in the vehicle assembly line, while conveying the car body, when we attach the various parts, components the weight was supported by the manipulator in the case of a heavy, worker heavy detected indirectly by applying a force to the force sensor, techniques for mounting an auxiliary device to reduce the load on the manual controls the manipulator on the basis of the information known to the.
特開2001−341086号公報 JP 2001-341086 JP 特開2000−84881号公報 JP 2000-84881 JP

特許文献1に開示されるロボットは作業者と1つの作業を協働して行なうものではなく、作業者とロボットとは全く別の作業を行なっている。 Robot disclosed in Patent Document 1 is not carried out in cooperation with the operator and one work are quite performing different tasks the operator and the robot. つまり、作業者とロボットが互いに相手の弱点(ロボットは細かな位置決めや部品の判別が苦手で、人間は重量物を持ち上げたり移動するのが苦手)をカバーし合って効率よく一連の作業を行なうというものではなく、したがって、1つの作業エリアをどのように配分すれば効率的かの開示や示唆がない。 In other words, the operator and the robot opponent weaknesses each other (robot not good at discriminating the fine positioning or component, humans are not good for lifting or moving heavy objects) performed efficiently series of work each other to cover the not that, therefore, how there is no efficient of disclosure or suggestion if you allocate one work area.

また特許文献2に開示されるロボットは、常に人手によって動かされ、人の手を離すとそこで作業は中断し、ロボットが単独で作業を行なうことがない。 The robot disclosed in Patent Document 2 is always moved by hand, release the hand of man where the work is interrupted, never to work robot alone. したがって、ロボットと作業者との間でエリアを分けて作業の効率化を図るという考えは出てこない。 Therefore, the idea of ​​increasing the efficiency of the work by dividing the area between the robot and the operator does not come out.

本発明は人共存型組付装置、つまり一部の作業を作業者と協働して行い、他の作業は自動で行うロボットと作業者とが同一作業エリア内で効率よく作業を行なうことを目的として成したものである。 The present invention is human coexistence type assembling apparatus, that is carried out some of the work in cooperation with the operator, the other tasks that are the robot and an operator who performs automatically to work efficiently in the same work area it is those that form for the purpose.

このため、本発明に係る搬送・組付けシステムは、1つの作業エリアを、人共存型組付装置と作業者とが協働して作業を行なうエリアと、人共存型組付装置が単独で移動するエリアと、人共存型組付装置が単独で移動している間に作業者が単独で作業するエリアとに分けた。 Therefore, transport and assembly system according to the present invention, one work area, and the area where the human coexistence type assembling apparatus and the operator to work in cooperation alone is human coexistence type assembling apparatus an area for movement, were divided into the area where the worker is working alone while the human coexistence type assembling apparatus is moving by itself.

一例を挙げると、前記人共存型組付装置と作業者とが協働して作業を行なうエリアは車体に部品を組付けるエリアであり、前記人共存型組付装置が単独で移動するエリアは部品供給部から車体に部品を組付けるエリアに至るエリアであり、前記作業者が単独で作業するエリアは前記2つのエリアと関連性を有しないエリアである。 As an example, the area and the person coexisting type assembling apparatus and the operator to work in cooperation is an area to assemble the parts to the vehicle body, the area where the person coexisting type assembling device moves alone an area ranging from the component supply unit to the area to assemble the parts to the vehicle body, the area where the worker is working alone is no area relevance with the two areas.

本発明によれば、1つの作業領域内で必要なときだけロボットと作業者が協働で1つの作業を行い、それ以外のときはそれぞれ単独の作業を行なうので、作業効率が大幅に向上する。 According to the present invention performs only the robot and the operator one work in cooperation when necessary in one work area, since otherwise each performs a single working time, working efficiency is greatly improved . また、それぞれ単独の作業を行なうエリアを分けたため互いに干渉することがなく安全も確保できる。 Moreover, not interfere with each other because it is divided into areas, each performing a single task safe can be secured.

以下に本発明の実施の形態を添付図面に基づいて説明する。 It is described with reference to embodiments of the present invention in the accompanying drawings. 図1は本発明に係る搬送・組付けシステムを適用した作業エリアの平面図、図2は人共存型組付装置と作業者とが協働して作業を行なうエリアの側面図である。 Figure 1 is a plan view of the work area to which the transport and assembly system according to the present invention, FIG 2 is a side view of the area where the human coexistence type assembling apparatus and the operator to work in cooperation.

図1に示すように、作業エリアには、人共存型組付装置Rと作業者SSとが協働して作業を行なうエリアA1と、人共存型組付装置が単独で移動するエリアA2と、人共存型組付装置Rが単独で移動している間に作業者が単独で作業するエリアA3及びA4の領域が存在する。 As shown in FIG. 1, the work area, and the area A1 to perform work by the operator SS cooperate with human coexistence type assembling apparatus R, the area A2 that is human coexistence type assembling apparatus moves by itself , operator there is a region of the area A3 and A4 to work alone while the human coexistence type assembling apparatus R are moving independently.

また作業エリアには、車体Wが吊り下げられた状態で矢印方向(左方向)へ移動するメインラインML、人共存型組付装置Rが走行するサブラインSL、タンク載置台TB、タンク収納棚TT及び部品載置台BBが設けられ、前記メインラインMLはエリアA1と一部重複し、前記サブラインSLはメインラインMLに直交するとともに一部がメインラインMLと平行に設けられ、人共存型組付装置が単独で移動するエリアA2と重複している。 Also in the work area, subline SL main line ML to move in a state where the vehicle body W is hung in the direction of the arrow (to the left), the human coexistence type assembling apparatus R travels, tank mounting table TB, tank storage rack TT and parts are mounting table BB is provided, the main line ML partially overlaps an area A1, the subline SL some with perpendicular to the main line ML is provided in parallel with the main line ML, with human coexistence type of assembled device is overlap with the area A2 to move alone.

前記エリアA3では人共存型組付装置Rが単独で移動している間に作業者SSがタンクTをタンク収納棚TTからタンク載置台TBに移す。 Operator SS is transferred to the tank mounting table TB the tank T from the tank storage rack TT between the area A3 in which human coexistence type assembling apparatus R is moving by itself. また前記エリアA4では同じ作業者SSがタンクTをタンク収納棚TTからタンク載置台TBに載置した後、人共存型組付装置Rが単独で移動している間に、部品を取り出して車体Wに取付ける。 Also after the area A4 in the same operator SS has placed the tank T to the tank mounting table TB from the tank storage rack TT, while the human coexistence type assembling apparatus R is moving alone, vehicle Remove the device attached to W.

また、タンク載置台TBからタンクTを取り上げた人共存型組付装置RがサブラインSLを走行し、図2に示すように、車体Wの下方、即ち人共存型組付装置Rと作業者SSとが協働して作業を行なうエリアA1まで移動してきたら、作業者SSは他の作業を中断してエリアA1において人共存型組付装置Rと協働してタンクTを車体Wに取付ける。 Also, human coexistence type assembling apparatus R took up the tank T from the tank mounting table TB travels subline SL, as shown in FIG. 2, the vehicle body W downward, i.e. human coexistence type assembling apparatus R and the operator SS Once you are moved to the area A1 for performing work in cooperation, the operator SS mount the cooperation with the tank T and human coexistence type assembling apparatus R in the area A1 to interrupt other work on the vehicle body W.

具体的には、人共存型組付装置Rのアームは作業者が小さな力で移動できる構造になっているので、作業者SSがタンクTを保持しているアームを移動して車体Wの取付け位置に一致せしめ、この後、自動で人共存型組付装置RがタンクTを車体Wに取付ける。 Specifically, since the arms of the human coexistence type assembling apparatus R has a structure in which the operator can move a small force, the mounting of the vehicle body W by moving the arm operator SS holds the tank T allowed coincides with the position, and thereafter, automatically in human coexistence type assembling apparatus R is attached to the tank T to the vehicle body W. つまり、この実施例の場合はタンクTの取付け作業を人とロボットが協働して行い、タンクTをタンク収納棚TTからタンク載置台TBに移す作業は作業者が行い、タンクTを車体下方まで移送する作業はロボットが行なうようにしている。 In other words, performed by humans and robots cooperate mounting work of the tank T in the case of this embodiment, the work transfer to the tank mounting table TB the tank T from the tank storage rack TT is performed by the operator, the vehicle body lower tank T task of transferring up is as the robot performs. 尚、タンクTを車体Wに取付ける作業は手動でおこなってもよい。 It should be noted that the work of attaching the tank T on the vehicle body W may be carried out manually.

そして、人共存型組付装置Rとの協働作業(アームの位置決め)が終了した作業者はエリアA3まで戻り、人共存型組付装置RがエリアA2を走行して戻ってくる間に新たなタンクTをタンク載置台TBに移し、前記同様、エリアA4に移動して部品を取り出し、その部品を車体に取付け、その作業が終了したら、エリアA1において、再び人共存型組付装置Rと協働してタンクTを車体Wに取付ける。 Then, the operator of device R in cooperation with the work with human coexistence type of assembled (positioning arm) has been completed, the process returns to the area A3, new while the human coexistence type assembling apparatus R come back traveling area A2 transferred to a tank T to the tank mounting table TB, the same takes the parts to move to the area A4, mounting the component to the vehicle body, when finished its work, in the area A1, and again human coexistence type assembling apparatus R attaching the tank T to the vehicle body W cooperate.

尚、実施例では作業者が1人の場合を説明したが、人共存型組付装置Rの作業時間及び走行時間が短い場合には、作業者を2人としてタンクTの取り出しと部品の取付けを別々に行なうようにしてもよい。 Although workers in the embodiment has been described the case of one person, the shorter the operation time and the traveling time of human coexistence type assembling apparatus R, the mounting of the take-out and the part of the tank T workers as two the may be performed separately.

図3は人共存型組付装置の別実施例を示す側面図であり、この実施例にあっては、人共存型組付装置RはクリップCを有し、作業者はこのクリップCを車体Wの一部に連結し、車体Wの走行と同期して人共存型組付装置Rを移動せしめ、この間に作業者はタンクの取付け位置に人共存型組付装置Rのアームを移動せしめる。 Figure 3 is a side view showing another embodiment of a human-Friendly assembling apparatus, in this embodiment, the human coexistence type assembling apparatus R has the clip C, the operator body the clip C linked to some of the W, in synchronization with the travel of the vehicle body W moved human coexistence type assembling apparatus R, the operator during this period allowed to move an arm of human coexistence type assembling apparatus R to the mounting position of the tank. このようにすることで、車体Wを移動しつつ取付け作業を行えるので、作業のトータル時間が短縮できる。 In this way, since perform the mounting work while moving the vehicle body W, it can be shortened total time of the work.

本発明に係る搬送・組付けシステムを適用した作業エリアの平面図 Plan view of the transport and assembly work area to which the system according to the present invention 人共存型組付装置と作業者とが協働して作業を行なうエリアの側面図 Side view of the area where the human coexistence type assembling apparatus and the operator to work in cooperation with 人共存型組付装置の別実施例を示す側面図 Side view showing another embodiment of a human-Friendly assembling apparatus

符号の説明 DESCRIPTION OF SYMBOLS

A1…人共存型組付装置と作業者が協働して作業を行なうエリア A2…人共存型組付装置が単独で移動するエリア A3,A4…人共存型組付装置が単独で移動している間に作業者が単独で作業するエリア R…人共存型組付装置 SS…作業者 W…車体 T…タンク ML…メインライン SL…サブライン TB…タンク載置台 TT…タンク収納棚 BB…部品載置台、 A1 ... human coexistence type assembling apparatus and operator cooperatively area A3 of the area A2 ... human coexistence type assembling apparatus for performing work moves alone, A4 ... human coexistence type assembling apparatus moves alone the operator area R ... people coexisting type assembling apparatus SS ... the worker w ... body T ... tank ML ... main line SL ... sub-line TB ... tank mounting table TT ... tank storage shelves BB ... parts mounting to work alone while you are table,

Claims (2)

  1. 作業エリアを、人共存型組付装置と作業者とが協働して作業を行なうエリアと、人共存型組付装置が単独で移動するエリアと、人共存型組付装置が単独で移動している間に作業者が単独で作業するエリアとに分けたことを特徴とする搬送・組付けシステム。 A work area, and the area where the human coexistence type assembling apparatus and the operator to work in cooperation, and the area where the human coexistence type assembling apparatus moves by itself, is human coexistence type assembling apparatus moves by itself transport and assembly systems, characterized in that the operator is divided into an area for work alone while it has.
  2. 請求項1に記載の搬送・組付けシステムにおいて、前記人共存型組付装置と作業者とが協働して作業を行なうエリアは車体に部品を組付けるエリアであり、前記人共存型組付装置が単独で移動するエリアは部品供給部から In transport and assembly system according to claim 1, the area and the person coexisting type assembling apparatus and the operator to work in cooperation are areas of assembling components to a vehicle body, with the person coexistence type of assembled area device moves alone from the component supply unit
    車体に部品を組付けるエリアに至るエリアであり、前記作業者が単独で作業するエリアは前記2つのエリアと関連性を有しないエリアであることを特徴とする搬送・組付けシステム。 An area leading to the area of ​​assembling the components to the vehicle body, transport and assembly system wherein an area where the operator is working alone, characterized in that a no area relevance with the two areas.
JP2004231956A 2004-08-09 2004-08-09 Conveying/installation system Pending JP2006044601A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100164250A1 (en) * 2007-04-03 2010-07-01 Renault S.A.S. Method for mounting a transverse understructure member and a technical front panel
US8312630B2 (en) * 2006-04-06 2012-11-20 Renault S.A.S. Method for mounting underbody elements on a motor vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8312630B2 (en) * 2006-04-06 2012-11-20 Renault S.A.S. Method for mounting underbody elements on a motor vehicle
US20100164250A1 (en) * 2007-04-03 2010-07-01 Renault S.A.S. Method for mounting a transverse understructure member and a technical front panel
US8245382B2 (en) * 2007-04-03 2012-08-21 Renault S.A.S. Method of mounting on a motor vehicle an underbody structural element and a technical front end the method including pivoting the technical front end using a connecting mechanism that connects the technical front end to the under body element

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