JP2017177243A5 - Assembly apparatus, production line, and method of manufacturing articles - Google Patents

Assembly apparatus, production line, and method of manufacturing articles Download PDF

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JP2017177243A5
JP2017177243A5 JP2016064339A JP2016064339A JP2017177243A5 JP 2017177243 A5 JP2017177243 A5 JP 2017177243A5 JP 2016064339 A JP2016064339 A JP 2016064339A JP 2016064339 A JP2016064339 A JP 2016064339A JP 2017177243 A5 JP2017177243 A5 JP 2017177243A5
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assembly
assembly tool
work
tool
orthogonal robot
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本発明は直交ロボットを用いた組立装置、生産ライン、および物品の製造方法に関する。 The present invention relates to an assembly apparatus , a production line , and a method of manufacturing an article using an orthogonal robot.

上記課題を解決するため、本発明においては、第１の組立ツールを第１の水平可動範囲で移動させる第１の直交ロボットと、第２の組立ツールを第２の水平可動範囲で移動させる第２の直交ロボットと、前記第１および第２の水平可動範囲より下方であって、前記第１または第２の直交ロボットにより移動される前記第１または第２の組立ツールでアクセス可能な共通領域においてワークを載置可能なワーク台を昇降させる昇降装置と、前記第１の直交ロボットおよび組立ツール、前記第２の直交ロボットおよび組立ツール、および前記ワーク台および前記昇降装置の各動作をこれらの直交ロボット、組立ツール、ないしワーク台の相互干渉を回避し、前記第１または第２の組立ツールを用いて前記ワーク台に載置された前記ワークに対して行う組立処理を制御する組立制御を実行する制御装置と、を備えた構成を採用した。 In order to solve the above problems, in the present invention, a first orthogonal robot for moving a first assembly tool in a first horizontal movable range, and a second robot for moving a second assembly tool in a second horizontal movable range Two orthogonal robots and a common area below the first and second horizontal movable ranges and accessible by the first or second assembly tool moved by the first or second orthogonal robots A lifting device for lifting a worktable on which the work can be placed , the first orthogonal robot and assembly tool, the second orthogonal robot and assembly tool, and the operations of the workpiece table and the lifting device. Cartesian robots, assembly tool, or to avoid worktable of mutual interference, relative to the workpiece placed on the workbench using the first or second assembly tool A control unit for executing assembly control for controlling the cormorants assembly process, employing a configuration with a.

Claims (11)

第１の組立ツールを第１の水平可動範囲で移動させる第１の直交ロボットと、
第２の組立ツールを第２の水平可動範囲で移動させる第２の直交ロボットと、
前記第１および第２の水平可動範囲より下方であって、前記第１または第２の直交ロボットにより移動される前記第１または第２の組立ツールでアクセス可能な共通領域においてワークを載置可能なワーク台を昇降させる昇降装置と、
前記第１の直交ロボットおよび組立ツール、前記第２の直交ロボットおよび組立ツール、および前記ワーク台および前記昇降装置の各動作をこれらの直交ロボット、組立ツール、ないしワーク台の相互干渉を回避し、前記第１または第２の組立ツールを用いて前記ワーク台に載置された前記ワークに対して行う組立処理を制御する組立制御を実行する制御装置と、を備えた組立装置。 A first orthogonal robot moving a first assembly tool in a first horizontal movable range;
A second orthogonal robot moving a second assembly tool in a second horizontal movable range;
The work can be placed in a common area accessible by the first or second assembly tool moved by the first or second orthogonal robot below the first and second horizontal movable ranges Lifting equipment for raising and lowering the worktable ,
The respective movements of the first orthogonal robot and the assembly tool, the second orthogonal robot and the assembly tool, and the work table and the lifting device are avoided from mutual interference of these orthogonal robots, the assembly tool or the work table , An assembly apparatus comprising: a control unit that executes assembly control to control an assembly process performed on the work placed on the worktable using the first or second assembly tool. 請求項１に記載の組立装置において、前記ワーク台は、前記第１および第２の組立ツールでアクセス可能な領域に配置される組立装置。The assembly apparatus according to claim 1, wherein the work table is disposed in an area accessible by the first and second assembly tools. 請求項１または２に記載の組立装置において、前記昇降装置を支持する基台をさらに備え、前記第１および第２の直交ロボットがそれぞれ前記第１および第２の組立ツールを移動させる前記第１および第２の水平可動範囲の下部の領域が、前記共通領域を除き、前記基台の上部の異なる空間に配置される組立装置。 In the assembly device according to claim 1 or 2, wherein the lifting device further comprising a base for supporting the said first of said first and second orthogonal robot moving the first and second assembly tool respectively And an assembly apparatus in which the lower region of the second horizontal movable range is disposed in a different space at the upper portion of the base except for the common region. 請求項１から３のいずれか１項に記載の組立装置において、前記制御装置が、前記ワークに対して実行すべき組立処理を、前記第１の組立ツール、および第２の組立ツールで実行可能な複数のタスクにタスク分割して実行させる組立装置。 The assembly apparatus according to any one of claims 1 to 3 , wherein the control device can execute an assembly process to be performed on the work with the first assembly tool and a second assembly tool. Assembly unit that divides tasks into multiple tasks and executes them. 請求項１から４のいずれか１項に記載の組立装置において、前記第１および第２の直交ロボットのそれぞれが、前記第１および第２の組立ツールを垂直方向に可動する駆動手段を有していない組立装置。The assembly apparatus according to any one of claims 1 to 4, wherein each of the first and second orthogonal robots has drive means for vertically moving the first and second assembly tools. Not an assembly device. 請求項１から５のいずれか１項に記載の組立装置において、隣接して配置された隣接組立装置の方向にワークを搬送する搬送装置を備え、前記制御装置が、前記搬送装置を制御して、前記隣接組立装置との間でワークの授受を行わせる組立装置。 The assembly apparatus according to any one of claims 1 to 5 , further comprising: a transfer device for transferring the work in the direction of the adjacent assembly device arranged adjacent to one another, wherein the control device controls the transfer device. An assembly apparatus for exchanging work with the adjacent assembly apparatus; 請求項１から６のいずれか１項に記載の制御装置に前記組立制御を実行させる組立装置の制御プログラム。 A control program of an assembling apparatus which causes the control apparatus according to any one of claims 1 to 6 to execute the assembly control. 請求項７に記載の組立装置の制御プログラムを格納したコンピュータ読み取り可能な記録媒体。 A computer readable recording medium storing the control program of the assembling apparatus according to claim 7 . 複数の組立装置を、複数台、隣接して配列することにより構成された生産ラインであって、請求項１から６のいずれか１項に記載の組立装置が少なくとも１台、ラインの配列に含まれる生産ライン。 A production line configured by arranging a plurality of assembling devices adjacent to each other, wherein at least one assembling device according to any one of claims 1 to 6 is included in an array of lines. Production line. 第１の組立ツールを第１の水平可動範囲で移動させる第１の直交ロボットと、A first orthogonal robot moving a first assembly tool in a first horizontal movable range;
第２の組立ツールを第２の水平可動範囲で移動させる第２の直交ロボットと、A second orthogonal robot moving a second assembly tool in a second horizontal movable range;
前記第１および第２の水平可動範囲より下方であって、前記第１または第２の直交ロボットにより移動される前記第１または第２の組立ツールでアクセス可能な共通領域においてワークを載置可能なワーク台を昇降させる昇降装置と、を備える組立装置を用いた物品の製造方法であって、The work can be placed in a common area accessible by the first or second assembly tool moved by the first or second orthogonal robot below the first and second horizontal movable ranges A method of manufacturing an article using an assembling apparatus comprising:
前記第１の直交ロボットおよび組立ツール、前記第２の直交ロボットおよび組立ツール、および前記ワーク台および前記昇降装置の各動作をこれらの直交ロボット、組立ツール、ないしワーク台の相互干渉を回避させ、前記第１または第２の組立ツールを用いて前記ワーク台に載置された前記ワークに対して行う組立処理を行う工程を、備える物品の製造方法。Causing the operations of the first orthogonal robot and the assembly tool, the second orthogonal robot and the assembly tool, and the work table and the lifting device to avoid mutual interference between these orthogonal robots, the assembly tool, and the work table; A method of manufacturing an article, comprising the step of performing an assembly process on the work placed on the worktable using the first or second assembly tool. 請求項１０に記載の物品の製造方法であって、前記ワーク台は前記第１および第２の組立ツールでアクセス可能な領域に配置されており、The method of manufacturing an article according to claim 10, wherein the work table is disposed in an area accessible by the first and second assembly tools.
前記ワーク台に載置されたワークに対し、前記昇降装置が昇降することにより前記第１の組立ツールが第１の組立作業を行う工程と、A step of the first assembly tool performing a first assembly operation by raising and lowering the elevating device with respect to the work placed on the work table;
前記ワーク台に載置されたワークに対し、前記昇降装置が昇降することにより前記第２の組立ツールが第２の組立作業を行う工程と、を備える物品の製造方法。And a step of the second assembly tool performing a second assembly operation by raising and lowering the elevating device with respect to the work placed on the work table.
JP2016064339A 2016-03-28 2016-03-28 Assembly equipment, production lines, and manufacturing methods for goods Active JP6812122B2 (en)

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