JP2006044601A - Conveying/installation system - Google Patents

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

  The present invention relates to a transport / assembly system in which an operator and a person-existing assembly apparatus coexist.

  As a transfer / assembly system in which an operator and a robot coexist, a mobile robot system disclosed in Patent Document 1 is known. In this prior art, a robot is movably arranged between an equipment 1 for receiving a workpiece, an equipment 2 for processing a workpiece, and an equipment 3 including a transfer conveyor, and the workpiece received by the equipment 1 is processed by the equipment 2. In addition, a system is disclosed in which the workpiece is transferred to the equipment 3 again by the robot. In particular, the equipment 1 and 3 is an area where an operator and the robot coexist, and in this area, a torque limiter is added to the motor drive circuit of the robot. The output of the motor that drives the robot arm is set to 80 W or less for the safety of the operator.

Further, in Patent Document 2, when various parts are mounted while transporting the vehicle body on the vehicle assembly line, if the parts are heavy, the manipulator supports the heavy objects, and the operator loads the heavy objects. A technique is known in which a force applied indirectly is detected by a force sensor and attached using an auxiliary device that controls a manipulator based on the information to reduce a load on a manpower.
JP-A-2001-341086 JP 2000-84881 A

  The robot disclosed in Patent Document 1 does not perform one operation in cooperation with an operator, and the operator and the robot perform completely different operations. In other words, the worker and the robot cover each other's weaknesses (the robot is not good at fine positioning and parts discrimination, and the human is not good at lifting or moving heavy objects) and performs a series of work efficiently. Therefore, there is no disclosure or suggestion of how to allocate one work area efficiently.

  Also, the robot disclosed in Patent Document 2 is always moved manually, and when the person's hand is released, the work is interrupted there and the robot does not work alone. Therefore, there is no idea of improving the work efficiency by dividing the area between the robot and the worker.

  The present invention is a human-synchronized assembling apparatus, that is, a part of work is performed in cooperation with the worker, and other work is automatically performed by the robot and the worker in the same work area efficiently. It was made as a purpose.

  For this reason, the conveyance / assembly system according to the present invention has a single work area in which the coexistence person-operated assembling apparatus and the worker work together and the coexistence-type assembling apparatus are independent. The area was divided into a moving area and an area where the worker worked alone while the human coexisting assembly device was moving alone.

  As an example, the area where the person coexisting assembly apparatus and the operator work together is an area where parts are assembled to the vehicle body, and the area where the human coexistence assembly apparatus moves independently is This is an area from the parts supply unit to the area where the parts are assembled to the vehicle body, and the area where the worker works alone is an area not related to the two areas.

According to the present invention, the robot and the operator cooperate to perform one work only when necessary in one work area, and perform the single work at other times, so that work efficiency is greatly improved. . In addition, since the areas where independent operations are performed are divided, safety can be ensured without interfering with each other.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a plan view of a work area to which a transport / assembly system according to the present invention is applied, and FIG. 2 is a side view of an area where a coexistence person-type assembly apparatus and an operator work together.

  As shown in FIG. 1, in the work area, there are an area A1 in which the coexistence type human assembly apparatus R and the worker SS work together, and an area A2 in which the human coexistence type assembly apparatus moves independently. There are areas A3 and A4 in which the worker works alone while the person coexistence type assembling apparatus R moves alone.

  Further, in the work area, a main line ML that moves in the direction of the arrow (leftward) with the vehicle body W suspended, a subline SL on which a human-friendly assembly device R travels, a tank mounting table TB, and a tank storage shelf TT And the component mounting table BB, the main line ML partially overlaps the area A1, the subline SL is orthogonal to the main line ML, and a part thereof is provided in parallel with the main line ML. It overlaps with area A2 where the device moves alone.

  In the area A3, the worker SS moves the tank T from the tank storage shelf TT to the tank mounting table TB while the person-synchronized assembling apparatus R is moving alone. Further, in the area A4, after the same worker SS places the tank T from the tank storage shelf TT on the tank placing table TB, the parts are taken out while the person-compatible assembly device R is moving alone. Attach to W.

  Further, the person-incorporated assembling apparatus R picking up the tank T from the tank mounting table TB travels on the subline SL, and as shown in FIG. 2, below the vehicle body W, that is, in the person-existing assembling apparatus R and the worker SS. Move to the area A1 where the work collaborates, the worker SS interrupts the other work and attaches the tank T to the vehicle body W in cooperation with the human-synchronized assembly device R in the area A1.

  Specifically, since the arm of the person-type assembly apparatus R is structured such that the worker can move with a small force, the worker SS moves the arm holding the tank T and attaches the vehicle body W. After that, the person coexistence type assembling apparatus R automatically attaches the tank T to the vehicle body W. That is, in this embodiment, the tank T is attached by a person and a robot in cooperation with each other, and the operator moves the tank T from the tank storage shelf TT to the tank mounting table TB. The robot is to perform the work of transferring to The work for attaching the tank T to the vehicle body W may be performed manually.

  Then, the worker who has finished the collaborative work (arm positioning) with the coexistence type person assembling apparatus R returns to the area A3, and the person coexistence type assembling apparatus R travels in the area A2 and returns to the new area. The tank T is moved to the tank mounting table TB, moved to the area A4 as in the case described above, the part is taken out, the part is mounted on the vehicle body, and when the operation is completed, the human-synchronized assembly device R is again connected in the area A1. The tank T is attached to the vehicle body W in cooperation.

  In the embodiment, the case where there is one worker has been described. However, when the working time and traveling time of the person coexistence type assembling apparatus R are short, the tank T is taken out and the parts are attached with two workers. May be performed separately.

  FIG. 3 is a side view showing another embodiment of the coexistence type human assembling apparatus. In this embodiment, the human coexistence type assembling apparatus R has a clip C, and an operator attaches the clip C to the vehicle body. It is connected to a part of W, and the person coexistence type assembling apparatus R is moved in synchronism with the traveling of the vehicle body W. During this time, the operator moves the arm of the person coexistence type assembling apparatus R to the tank mounting position. By doing so, the attachment work can be performed while moving the vehicle body W, so that the total work time can be shortened.

The top view of the work area to which the conveyance and assembly system concerning the present invention is applied Side view of an area where people can work together with a coexistence-type assembly device and workers Side view showing another embodiment of the coexistence system

Explanation of symbols

A1 ... Area where people coexistence type assembly device and worker work together A2 ... Area where people coexistence type assembly device moves independently A3, A4 ... A person coexistence type assembly device moves independently Area where worker is working alone while working R ... Human coexistence type assembly device SS ... Worker W ... Car body T ... Tank ML ... Main line SL ... Subline TB ... Tank mounting table TT ... Tank storage shelf BB ... Parts mounting Stand,

Claims (2)

The work area consists of an area where the coexisting person and the assembly machine work together, an area where the coexisting person moves independently, and a person coexisting apparatus moves alone. A system for transporting and assembling, characterized in that it is divided into areas where workers work independently during 2. The conveyance / assembly system according to claim 1, wherein an area where the human-symbiotic assembly device and an operator work together is an area in which a part is assembled to a vehicle body, and the human-symbiotic assembly is performed. The area where the device moves independently is from the parts supply section.
A transportation / assembly system, characterized in that the area is an area where a part is assembled to a vehicle body, and the area where the worker works independently is an area not related to the two areas.