JP2017007063A - Assembly facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress variations in assembly accuracy by build-up booth in an assembly facility having a plurality of build-up booths where the same work is performed.SOLUTION: An assembly facility includes a plurality of build-up booths S2-S5 where the same assembly work is performed. Each of the build-up booths S2-S5 includes: a plurality of robot arms 21, 22; coordinate acquisition means for acquiring coordinates of components A, B held by each of the robot arms 21, 22; a controller for driving each of the robot arms 21, 22 based on the coordinates of the components A, B acquired by the coordinate acquisition means and correcting the position of each of the components A, B; and a joining device (a welding device 30) for welding together the components A, B held by each of the robot arms 21, 22.SELECTED DRAWING: Figure 1

Description

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

  For example, Patent Document 1 discloses an assembly facility (body welding facility) in which a plurality of work stations are arranged side by side along the conveyance direction of a car body of a car, and welding work is performed by a welding robot or the like at each work station. . In this assembly facility, one work station is provided for each welding operation.

JP 2011-11704 A

  In the above assembly facility, for example, if a plurality of work stations are provided for each welding work, and the same welding work is performed in parallel at each work station, productivity can be improved. However, in the assembly equipment as described above, since a plurality of parts to be joined are usually positioned with each other using a jig and welding is performed in this state, the assembly accuracy of both parts depends on the jig. . Therefore, when performing the same welding work at a plurality of work stations as described above, it is necessary to place jigs having the same dimensional accuracy at each work station. Since it is practically impossible to match, it is inevitable that the assembly accuracy of the assembly assembled at each work station varies.

  In view of the circumstances as described above, the problem to be solved by the present invention is to suppress variation in assembly accuracy for each assembly booth in an assembly facility having a plurality of assembly booths (assembly work stations) for performing the same work. .

  In order to solve the above-described problems, the present invention provides an assembly facility including a plurality of assembly booths that perform the same assembly work, and each assembly booth includes a plurality of robot arms and parts held by the robot arms. Coordinate acquisition means for acquiring coordinates, a control device that drives each robot arm and corrects the position of the part based on the coordinates of the part acquired by the coordinate acquisition means, and components held by each robot arm There is provided an assembling facility having a joining device for joining together.

  According to this assembly facility, for example, after moving each part to the assembly position, the coordinates of each part are acquired by the coordinate acquisition means, thereby confirming whether each part is correctly arranged at the regular assembly position. can do. And when each component has shifted | deviated from the regular assembly position, each component can be correctly arrange | positioned in a regular assembly position by driving a robot arm with a control apparatus and correct | amending the position of each component. . Thereby, since both parts can be positioned mutually without using a jig | tool, the variation in the assembly precision of each assembly booth resulting from the dimensional accuracy of a jig | tool can be avoided.

  For example, when assembling multiple types of parts (subparts) to one part (main part) in each assembly booth, if the main part and subpart are positioned using a jig, for each type of subpart It takes time to replace the jig. On the other hand, if each component can be positioned at a predetermined assembly position based on the coordinates acquired by the coordinate acquisition means as described above, the type of sub-component can be changed by simply changing the set coordinates of the assembly position of each component. Each component can be arranged at an assembly position according to the above. As a result, the labor of exchanging the jig for each type of sub-part is saved, and the productivity is improved.

  As described above, according to the present invention, in an assembly facility including a plurality of assembly booths that perform the same assembly work, components to be joined can be positioned with respect to each other without using a jig. Variations in assembly accuracy for each assembly booth due to the dimensional accuracy can be suppressed.

It is a top view of assembly equipment. It is a flowchart which shows the assembly method by the said assembly equipment. It is a flowchart which shows the procedure of the assembly process of the said assembly method in detail. It is a figure which shows the 1st coordinate acquisition means notionally. It is a perspective view which shows the projection apparatus and screen of a 1st coordinate acquisition means. (A)-(c) is a figure which shows an example of the projection image and reference | standard image in a 1st coordinate acquisition means. (A)-(c) is a figure which shows the other example of the projection image and reference | standard image in a 1st coordinate acquisition means.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  In this embodiment, the case where the parts A to D are joined by welding is shown. Specifically, for example, the subparts B, C, and D which are also sheet metal press products are welded to the main part A which is a sheet metal press product. In the case of assembling, automotive panel parts (side panels, roof panels, door panels, etc.) are assembled. For example, as shown in FIG. 1, the assembly equipment for assembling the panel parts includes a set booth S <b> 1 that sets parts A to D on a holder N to form a part set M, and subparts B and C with respect to the main part A. , D, assembly booths S2 to S5, an inspection booth S6 for inspecting a completed assembly (panel component W), and a conveyance line L for conveying the component set M and the panel component W.

  The conveyance line L is configured by a belt conveyor or a roller conveyor, and conveys a workpiece (part set M or panel part W) from the set booth S1 toward the inspection booth S6. The conveyance line L in the illustrated example is provided so as to connect the set booth S1 and the inspection booth S6, and is provided, for example, in a straight line.

  The assembly booths S <b> 2 to S <b> 5 are provided on the side (lower side in FIG. 1) of the transfer line L, and are arranged side by side in the transfer direction of the transfer line L (left and right direction in FIG. 1). The assembly booths S2 to S5 are so-called cell production type assembly booths in which the subparts B, C, and D are assembled to the main part A to complete the panel parts. Each assembly booth S2 to S5 has the same layout. In this embodiment, each assembly booth includes a carry-in area 11 and a carry-out area 12, a first robot arm 21, a second robot arm 22 (two in the illustrated example), a third robot arm 23, A welding device 30 as a joining device and a control device (not shown) for controlling the robot arms 21, 22, 23, the welding device 30, and the like are provided. All the work in each assembly booth is automatically performed by a robot arm or the like, and does not include manual work by an operator.

  Each of the robot arms 21, 22, and 23 includes a multi-joint arm having a plurality of joints and an end effector attached to the tip of the multi-joint arm via a coupling device. The articulated arm has a flexion joint, a swing joint, and a linear motion joint, and has, for example, a degree of freedom of 7 axes or 8 axes. In the present embodiment, the first robot arm 21 and the third robot arm 23 are provided with hand portions capable of holding the components A to D as end effectors. On the other hand, the second robot arm 22 is provided with a positioning member that contacts the main part A and adjusts the position of the main part A as an end effector.

The welding apparatus 30 joins the main part A and the subparts B, C, and D by welding. The welding apparatus 30 of the present embodiment includes a multi-joint arm and a direct spot welding welding gun (C-type gun, X-type gun, etc.) provided at the tip thereof. In addition, a welding apparatus that performs laser welding, CO ₂ welding, indirect spot welding, series spot welding, or the like may be used. Further, the joining device is not limited to a welding device, and a fastening device that performs bolt fastening, a hemming device that performs hemming, an adhesive application device, or the like may be provided.

  Each assembly booth S2 to S5 is provided with coordinate acquisition means (not shown) for acquiring the coordinates of the parts A to D. A coordinate acquisition means acquires the coordinate of each components AD in the coordinate system (world coordinate system) showing the whole space in each assembly booth S2-S5. The coordinate acquisition unit of the present embodiment includes a first coordinate acquisition unit and a second coordinate acquisition unit. The first coordinate acquisition means acquires the coordinates of the tip of the articulated arm of each robot arm 21, 22, 23. As the first coordinate acquisition means, for example, the world at the tip of each robot arm 21, 22, 23 is based on the position or shape of the projected image of the reference member provided at the tip of each robot arm 21, 22, 23. Those that acquire coordinates (three-dimensional position and orientation) in the coordinate system can be used (details will be described later). The second coordinate acquisition means acquires the difference between the coordinates of the tips of the robot arms 21, 22, and 23 and the coordinates of the end effector or the parts A to D held by the end effector. As the second coordinate acquisition means, for example, a device that detects the difference between the coordinates of the tip of each robot arm 21, 22, 23 and the coordinates of the end effector, etc., based on an image photographed by a photographing device such as a camera. Can be used.

  Hereinafter, a method for assembling the panel parts by the above assembly equipment will be described.

  As shown in FIG. 2, the assembly method of the present embodiment includes (1) a setting process in which the parts A to D are set on the holder N to form the part set M, and (2) the part set M is transferred to the transport line L. And (3) the sub-parts B, C, and D are assembled to the main part A within the assembly booth in which the part set M is carried in. An assembling process for assembling the panel parts, (4) an unloading process for unloading the completed panel parts W via the transfer line L, (5) a buffer process for temporarily holding the panel parts W, and (6) an inspection booth S6. And an inspection process for inspecting the panel component W.

(1) Set process and (2) Carry-in process First, in the set booth S1, an operator takes out parts A to D one by one from a part stock (not shown) and sets them in the holder N, thereby setting the parts set M. Is formed. This component set M is carried onto the conveyance line L and conveyed downstream (right side in FIG. 1). Then, after the parts set M is transported to any assembly booth (for example, the assembly booth S2), the parts set M is carried into the carry-in area 11 of the assembly booth S2 by carrying means (not shown).

(3) Assembly process Then, the parts A to D of the part set M carried into the carry-in area 11 of the assembly booth S2 are assembled by the robot arms 21, 22, 23 and the welding apparatus 30. This assembly process is performed through the process shown in FIG. Hereinafter, each process will be described in detail.

(3-1) Initial coordinate acquisition process of component set M First, the component set M carried into the carry-in area 11 of the assembly booth S2 is lifted together with the holding tool N by the first robot arm 21 to a predetermined initial position. Move and hold. In this state, the coordinates of the initial position of the component set M are acquired by the coordinate acquisition means. In the present embodiment, first, the coordinates in the world coordinate system of the tip of the articulated arm of the first robot arm 21 are acquired by the first coordinate acquisition means. Then, the tip of the first robot arm 21 and the component set M are photographed in one screen by the photographing device of the second coordinate acquisition means, and the coordinates and components of the tip of the first robot arm 21 are based on this image. A difference from the coordinates of the set M is detected. Thus, the difference between the coordinates of the tip of the first robot arm 21 acquired by the first coordinate acquisition unit and the coordinates of the tip of the first robot arm 21 acquired by the second coordinate acquisition unit and the component set M are obtained. Are transmitted to the control device, and the control device calculates the coordinates (three-dimensional position and orientation) in the world coordinate system of the initial position of the component set M including the main component A.

(3-2) Initial coordinate acquisition step of positioning member of second robot arm 22 Next, the positioning member of the second robot arm 22 is moved to a predetermined initial position. And the coordinate of the positioning member arrange | positioned to the initial position is acquired by a coordinate acquisition means. Specifically, in the same manner as described above, the first coordinate acquisition unit acquires the coordinates of the tip of the second robot arm 22, and based on the image of the imaging device of the second coordinate acquisition unit, the second coordinate acquisition unit The difference between the coordinates of the tip of the robot arm 22 and the coordinates of the positioning member is detected. These values are transmitted to the control device, and the coordinates of the initial position of the positioning member in the world coordinate system are calculated.

(3-3) Subordinate Component B Initial Coordinate Acquisition Step Next, the third robot arm 23 removes the subsidiary component B from the holder N of the component set M held by the first robot arm 21, Move to the initial position. And the coordinate of the subcomponent B arranged at the initial position is acquired by the coordinate acquisition means. Specifically, as described above, the first coordinate acquisition unit acquires the coordinates of the tip of the third robot arm 23 and the third coordinate acquisition unit based on the image of the imaging device of the second coordinate acquisition unit. The difference between the coordinates of the tip of the robot arm 23 and the coordinates of the sub part B is detected. These values are transmitted to the control device, and the coordinates of the initial position of the sub-part B in the world coordinate system are calculated.

(3-4) Positioning (and Correction) Step of Main Part A Next, the positioning member of the second robot arm 22 is moved to a predetermined support position and brought into contact with the main part A. Thus, the main part A is positioned at a predetermined assembly position by supporting the main part A with the positioning member. And in order to confirm that the positioning member is correctly arrange | positioned at the predetermined support position, the coordinate of the positioning member arranged at the support position is acquired by the coordinate acquisition means. In the present embodiment, the coordinates of the tip of the second robot arm 22 are acquired by the first coordinate acquisition means, and the coordinates of the tip of the first robot arm 21 acquired in the above step (3-1). The measured value of the deviation is calculated. On the other hand, in the control device, the deviation of the coordinates of the tips of the robot arms 21 and 22 when the positioning member is arranged at a predetermined support position is stored in advance as a reference value. Then, the actual measurement value of the deviation calculated from the coordinates of the tips of the robot arms 21 and 22 acquired by the first coordinate acquisition means is compared with the reference value of the deviation stored in the control device.

  If the difference between the reference value of the deviation and the actually measured value is within an allowable range, the positioning member is accurately disposed at a predetermined support position, and the main part A is accurately disposed at a predetermined assembly position. It is determined that On the other hand, if the difference between the reference value of the deviation and the actually measured value exceeds the allowable range, the position of the positioning member of the second robot arm 22 is corrected based on the magnitude and direction of the difference, thereby The position of the part A is corrected. Then, the coordinates of the tip of the second robot arm 22 are obtained again by the first coordinate acquisition means, and the measured value of the deviation from the coordinates of the tip of the first robot arm 21 is calculated. Is compared with the reference value. Then, the above correction process is repeated until it is determined that the positioning member is accurately arranged at the predetermined support position.

(3-5) Subcomponent B Positioning (and Correction) Step In the step (3-4), if it is determined that the main component A is accurately placed at a predetermined assembly position, the third robot arm 23 Then, the sub-part B is moved to a predetermined assembly position and combined with the main part A. In this state, the coordinates of the secondary part B arranged at the assembly position are acquired by the coordinate acquisition means. In the present embodiment, the coordinates of the tip of the third robot arm 23 are acquired by the first coordinate acquisition means, and the coordinates of the tip of the first robot arm 21 acquired in the step (3-1) are acquired. The measured value of the deviation is calculated. On the other hand, the control device stores in advance the deviation of the coordinates of the tips of the robot arms 21 and 23 when the main part A and the sub part B are correctly combined as a reference value. Then, the actual measurement value of the deviation calculated from the coordinates of the tips of the robot arms 21 and 23 acquired by the first coordinate acquisition means is compared with the reference value of the deviation stored in the control device.

  If the difference between the deviation reference value and the actual measurement value is within an allowable range, it is determined that the main part A and the sub part B are properly assembled. On the other hand, if the difference between the reference value of the deviation and the actually measured value exceeds the allowable range, the position of the sub part B is corrected by driving the third robot arm 23 based on the magnitude and direction of the difference. The Then, the coordinates of the tip of the third robot arm 23 are obtained again by the first coordinate acquisition means, and the measured value of the deviation from the coordinates of the tip of the first robot arm 21 is calculated. Is compared with the reference value. Then, the above correction process is repeated until it is determined that the main part A and the sub part B are properly assembled.

(3-6) Joining Step In the above step (3-5), when it is determined that the main part A and the sub part B are properly assembled, the predetermined positions of the main part A and the sub part B by the welding device 30. Are welded to join the main part A and the sub-part B together.

  Thereafter, in the same manner as described above, the sub-parts C and D are further sequentially assembled to the main part A by welding, and additional welding is performed on each welded portion. Thus, the panel component W composed of the components A to D is completed. The assembled panel component W is placed on the carry-out area 12 of the assembly booth S2 by the first robot arm 21.

(4) Unloading step, (5) Buffering step, and (6) Inspection step The panel component W placed in the unloading area 12 of the assembly booth S2 is transferred to the transfer line L at an appropriate timing by unloading means (not shown). Is done. And the panel components W are conveyed downstream (right side of FIG. 1) by the conveyance line L, and are carried in to inspection booth S6. In the illustrated example, a buffer space L0 is provided between the transport line L and the inspection booth S6. The panel component W carried out from the conveyance line L temporarily stays in the buffer space L0 and is carried into the inspection booth S6 at an appropriate timing. Then, in the inspection booth S6, the panel part W is inspected by the worker (inspection of quality of the welded portion, etc.), and the panel part W that has passed the inspection is carried out to the next process.

  In the other assembly booths S3 to S5, the panel parts W are assembled in the same manner as described above. That is, in each of the assembly booths S2 to S5, the same assembly work is performed at different timings. Thus, productivity of the panel component W is improved by performing the same assembly work in a plurality of assembly booths.

  In the above assembling process, a jig for physically positioning the main part A and the sub-parts B to D to be joined to each other is not used, and each sub-part for the main part A is based on the coordinates of the parts A to D. The parts B to D are positioned. Thus, cost reduction is achieved by omitting a jig for positioning the main part A and the sub-parts B to D with each other. Further, even when the shape or number of parts is changed due to a change in the vehicle type or the like, it is possible to cope with the problem by simply inputting coordinates corresponding to the parts to the control device, so that the versatility of the assembly equipment is greatly enhanced.

  Further, when the same assembly work is performed in the plurality of assembly booths S2 to S5 as described above, if the mutual positioning of the main part and the sub part is performed with a jig as in the past, the jigs of each assembly booth Due to the variation in dimensional accuracy, the assembly accuracy of the panel parts assembled at each assembly booth tends to vary. On the other hand, in the present embodiment, the assembly accuracy of the panel parts W assembled in the assembly booths S2 to S5 is guaranteed by the coordinates of the parts arranged at the assembly positions. As compared with the case of providing, the variation in the assembly accuracy of the panel parts for each assembly booth can be suppressed.

  Further, when the same assembly work is performed in the plurality of assembly booths S2 to S5 as described above, when the program of the control device (such as the coordinates of the assembly position) of one assembly booth (for example, the assembly booth S2) is changed, If the program of the control device of other assembly booths (for example, assembly booths S3 to S5) is automatically changed, it is possible to respond quickly to vehicle type changes and the like.

  In addition, when the posture at the time of assembling each part and the posture in the actual use state (the state in which the panel component W is assembled to the vehicle) are greatly different, the difference between these postures (the amount of change in posture, specifically the rotational direction and It is preferable to feed back the deformation of the part accompanying the rotation angle) to the program of the control device. Specifically, first, the postures of the respective parts A to D are changed by the robot arm, the dimensions of the respective parts A to D at that time are measured, and the posture change amount and the dimensional change amount of each of the parts A to D are calculated. Get the correlation formula. And the difference of the attitude | position in the actual use condition of each components AD and the attitude | position when each components AD are arrange | positioned in an assembly position is acquired as an attitude | position change amount. By substituting the posture change amounts of the respective parts A to D thus obtained into the above-described interphase equations, the dimensional change amounts of the respective parts A to D accompanying the difference in the posture at the actual use state and the assembly position are calculated. This dimensional change is fed back to the control device to set the joining conditions (for example, the coordinates of the assembly position of each part A to D, the location of the welding point, etc.) between the main part A and the subparts B, C, and D. To do. Thus, based on the deformation (amount of dimensional change) associated with the difference in posture between the actual use state and the assembly position of each of the parts A to D, the joining condition of the main part A and the subparts B, C, and D As a result, the assembly accuracy of the panel component W can be improved.

  Hereinafter, a configuration example of the first coordinate acquisition unit will be described with reference to FIGS.

  The first coordinate acquisition unit 50 shown in FIG. 4 projects an image of a reference member provided at the tip of each robot arm 21, 22 onto a screen or the like, and based on this projection image, the tip of each robot arm 21, 22. As a result, the coordinates in the world coordinate system of the parts held by the robot arms 21 and 22 are acquired. Specifically, the first coordinate acquisition means 50 includes a projection device 51 provided at the tips of the robot arms 21 and 22, a screen 52, and a photographing device 53 that captures a projection image projected on the screen 52. . The projection device 51 and the photographing device 53 are controlled by a control device 40 that controls the robot arms 21 and 22 and the like.

  The projection device 51 is provided at or near the end effector of the robot arms 21 and 22, and is attached to, for example, a coupling device for mounting the end effector. For example, as shown in FIG. 5, the projection device 51 includes a reference member 54 having a predetermined shape and a light source 55 that irradiates the reference member 54 with light. When light is emitted from the light source 55, the projected image P of the reference member 54 is projected onto the screen P. The reference member 54 has a shape in which at least one of the position and the shape of the projection image P is changed regardless of which direction is moved or rotated. In the illustrated example, a cross-shaped slit 54 a is formed in the reference member 54.

  As the light source 55, for example, a laser light source or an LED light source can be used. As described above, the light source 55 is integrated with the reference member 54 as the projection device 51 and is provided on the robot arms 21 and 22, and is separated from the reference member 54 provided on the robot arms 21 and 22. (Stationary system) may be provided.

  The screen 52 is provided on the side opposite to the light source 55 with respect to the reference member 54. For example, the screen 52 is arranged so that the projection plane is parallel to the vertical direction, and is preferably arranged so as to be parallel to the yz plane of the world coordinate system of the assembly booths S2 to S5. Various cameras such as a CCD camera are used for the photographing device 53.

  Hereinafter, a method for acquiring the coordinates of each component by the first coordinate acquisition means 50 will be described.

  When the component is arranged at a predetermined position, light is emitted from the light source 55 to project the projection image P of the slit 54 a of the reference member 54 onto the screen 52. The projection image P is photographed by the photographing device 53 and transmitted to the control device 40. The control device 40 stores in advance a projection image (reference image P0) when the reference member 54 is correctly arranged at a predetermined position. The reference image P0 and the projection image transmitted from the photographing device 53 are stored. By comparing with P, it is confirmed whether or not the reference member 54 is disposed at a predetermined position.

  For example, as shown in FIG. 6A, the projection image P and the reference image P0 (shown by a dotted line) are congruent, but the projection image P is only D1 on the right side (y-axis positive direction) from the reference image P0. If they are misaligned, the component posture matches the normal posture, but the component position deviates to the right by D1 with respect to the reference position. As shown in FIG. 6B, the projection image P and the reference image P0 are congruent, but when the projection image P is shifted by D2 above the reference image P0 (z-axis positive direction), The posture matches the normal posture, but the position of the component is shifted by D2 upward from the reference position. As shown in FIG. 6C, the centers of the projection image P and the reference image P0 coincide, and the projection image P and the reference image P0 have a similar shape (in the illustrated example, the projection image P is the reference image). In the case of being enlarged from P0), the position of the component is shifted from the reference position in the direction (x-axis direction) orthogonal to the screen 52.

  Further, as shown in FIG. 7A, the projection image P and the reference image P0 are congruent, but when the projection image P is rotated by an angle θ with respect to the reference image P0, the component is at the reference position. On the other hand, it is rotated by an angle θ around the x axis. As shown in FIG. 7B, when the length LB1 of the vertical line of the projection image P is shorter than the length LA1 of the vertical line of the reference image P0, the component is rotated around the y axis with respect to the reference position. It will be. As shown in FIG. 7C, when the length LB2 of the horizontal line of the projection image P is shorter than the length LA2 of the horizontal line of the reference image P0, the component rotates around the z axis with respect to the reference position. It will be.

  As described above, by comparing the center position, size, shape, rotation angle, and the like of the projection image P and the reference image P0, the actual position and posture of the reference member 54 are shifted from the normal position and posture (that is, The magnitude and direction of the deviation of the actual coordinates of the reference member 54 with respect to the reference coordinates can be calculated. Since the three-dimensional position and orientation of each component with respect to the reference member 54 are determined in advance, the coordinates of the component can be acquired based on the coordinates of the reference member 54.

  The present invention is not limited to the above embodiment. For example, in the above-described embodiment, the case where the robot arm and the joining device are provided in each assembly booth is shown, but the device provided in the assembly booth is not limited thereto. For example, each assembly booth may be provided with a clamping device that clamps and holds both parts in a state where the main part and the sub part to be joined are combined. It is preferable that the clamp device has a multi-joint arm and a clamp portion provided at the tip thereof, and the clamp portion can be arranged at an arbitrary coordinate.

  The coordinate acquisition means is not limited to the above, and for example, the coordinates of each part in the world coordinate system may be acquired by only one of the first coordinate acquisition means and the second coordinate acquisition means.

  In the above embodiment, the case where the parts A to D are assembled by the cell production method in the assembly booths S2 to S5 has been shown. However, the present invention is not limited to this. For example, the parts are produced by the line production method in the assembly booths S2 to S5. A to D may be assembled. Specifically, for example, in the assembly booth S2, the sub part B is assembled to the main part A, in the assembly booth S3, the sub part C is assembled to the assembly of the main part A and the sub part B, and in the assembly booth S4, The subpart D may be assembled to the assembly of the parts A, B, and C, and the assembly booth S5 may make additional hits. However, in this case, since the parts A to D are assembled via all the assembly booths S2 to S5, it is necessary to carry in and out of each of the assembly booths S2 to S5, and the tact time becomes long. Therefore, when emphasizing productivity, it is preferable to provide a plurality of cell production type assembly booths.

DESCRIPTION OF SYMBOLS 11 Carry-in area 12 Carry-out area 21, 22, 23 Robot arm 30 Welding device 40 Control device A Main part B, C, D Subpart M Part set L Conveyance line S1 Set booth S2-S5 Assembly booth S6 Inspection booth W Panel part

Claims (1)

An assembly facility having a plurality of assembly booths for performing the same assembly work,
Each assembly booth drives each robot arm based on a plurality of robot arms, coordinate acquisition means for acquiring the coordinates of the parts held by each robot arm, and the coordinates of each part acquired by the coordinate acquisition means. An assembly facility having a control device that corrects the position of each component and a joining device that joins the components held by each robot arm.

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