JP2018192605A - Automatic assembly device, and automatic assembly system - Google Patents

Abstract

To solve such a problem that a conventional automatic assembly device employs a component receiving and delivering system at each assembly station using a temporary placing table in receiving and delivering a component, for instance, like in supplying a component from a component stocker, resulting in increase in size of a robot and an increase in amount of vibration.SOLUTION: A component delivery unit includes: a component holding part 21 for holding an assembly component 17 supplied from supply means; and Y-axis moving means 18 for conveying the assembly component held by the component holding part toward an assembly zone within an XY plane. A distance used to convey the assembly component within the XY plane by the Y-axis moving means 18 is configured to be longer than a distance used to move a hand 5 in a Y-direction by Y-axis moving means 3 of the assembly zone.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic assembling apparatus and an automatic assembling system using a robot, and more particularly to improvement of a delivery part for an assembly part.

Conventionally, in an automatic assembly apparatus that assembles parts using a robot, an orthogonal robot or an articulated robot that grips the assembled parts is often used. For example, Patent Document 1 discloses an automatic assembling machine capable of interlocking an orthogonal robot having a joint movable about XYZ axes and a joint rotatable in an XY plane and a jig robot having two rotary joints. ing.
However, in the automatic assembly machine of Patent Document 1, since the orthogonal robot is provided with the Z-axis moving mechanism, the moment of inertia becomes large, and if the hand is moved at a high speed during delivery of parts, vibration occurs and converges for a long time. There was a tendency not to. For this reason, there existed a problem that an assembly precision fell and assembly time became long.

  Therefore, in Patent Document 2, in an automatic assembly machine that receives and delivers assembly parts between a plurality of assembly stations, an X-axis moving unit and a Z-axis moving unit having a work table on the X-axis moving unit are provided as a gantry. A delivery mechanism provided on the surface has been proposed.

JP-A-8-323661 JP 2017-42900 A

In the automatic assembly apparatus shown in Patent Document 2, the moment of inertia is reduced and the vibration is suppressed with respect to the parts delivery mechanism between the plurality of assembly stations.
However, the parts delivery method using a temporary table is used for parts reception and delivery within each assembly station, for example, parts supply from a parts stocker, which increases the size of the robot and the amount of vibration. Was an issue.

  Accordingly, an object of the present invention is to provide a small automatic assembling apparatus and an automatic assembling method that can reduce vibrations not only between stations but also in receiving and delivering parts in each assembling station.

  The present invention is an automatic assembly apparatus including a component supply unit, a component delivery unit, and an assembly unit, wherein the component supply unit includes supply means for supplying an assembly part to the component delivery unit, The delivery unit includes a component holding unit that holds the assembly component supplied from the supply unit, and an assembly component conveyance unit that conveys the assembly component held by the component holding unit toward the assembly unit in an XY plane. And the assembly unit receives the assembly component conveyed by the assembly component conveyance unit from the component holding unit, and a Y-axis moving unit that moves the hand in the Y direction to the assembly work position. A work table for holding the assembly target part, and a Z-axis moving means for moving the work table in the Z direction and assembling the assembly part held by the hand to the assembly target part held by the work table; Self-characterized by It is an assembly apparatus.

  The present invention can reduce vibrations not only between stations but also in receiving and delivering parts in each assembly station, and can provide a small automatic assembly apparatus and automatic assembly method.

The perspective view of the automatic assembly apparatus of 1st embodiment. The figure which connected the some assembly station. The operation | movement flowchart of the automatic assembly apparatus of 1st embodiment. (A) The figure which shows the operation state of process S31. (B) The figure which shows the operation state of process S32. (C) The figure which shows the operation state of process S33. (D) The figure which shows the operation state of process S34. (E) The figure which shows the operation state of process S35. (F) The figure which shows the operation state of process S36. (G) The figure which shows the operation state of process S37. (H) The figure which shows the operation state of process S38. (I) The figure which shows the operation state of process S39. The perspective view of the automatic assembly apparatus of 2nd embodiment. The figure which connected the some assembly station. The operation | movement flowchart of the automatic assembly apparatus of 2nd embodiment. The figure which shows the operation state of process S94.

[First embodiment]
Hereinafter, an automatic assembly apparatus and an automatic assembly system according to a first embodiment of the present invention will be described with reference to the drawings. The automatic assembly apparatus according to the embodiment can be operated as an automatic assembly system by connecting a plurality of assembly stations. First, the configuration of one assembly station will be described.

(Configuration of assembly station)
FIG. 1 is an external view of an assembly station of the automatic assembly apparatus according to the first embodiment, and includes three parts: a component supply unit, a component delivery unit, and an assembly unit.

The component supply unit is composed of 10 to 17 in the figure, 10 is a gantry, and 11 is a stand attached to the gantry 10 and extending in the Z direction. Reference numeral 12 denotes a component supply unit Y-axis moving means which is attached to the stand 11 and is movable in the Y-axis direction, and 13 is a component supply unit X-axis movement means which is attached to the Y-axis movement means 12 and is movable in the X-axis direction. It is.
Further, 14 is a component supply unit Z-axis movement unit that is movable in the Z-axis direction attached to the component supply unit X-axis movement unit 13, and 15 is a second hand attached to the component supply unit Z-axis movement unit 14. 16 is a supply pallet and 17 is an assembly part.

  The component supplying unit Y-axis moving unit 12, the component supplying unit X-axis moving unit 13, and the component supplying unit Z-axis moving unit 14 can move the second hand in three directions of the X axis, the Y axis, and the Z axis. It can be said that it is means. The component supply unit Y-axis moving unit 12, the component supply unit X-axis moving unit 13, the component supply unit Z-axis moving unit 14, and the second hand 15 are arranged at a position higher in the Z-axis direction than the top surface of the gantry 10. As shown in FIG.

  The parts delivery section is composed of 18 to 21 in the figure, 18 is a second Y-axis moving means attached to the gantry 1 and movable in the Y-axis direction, and 19 is attached to the second Y-axis moving means 18. The second Z-axis moving means is movable to the Z-axis. Reference numeral 20 denotes a second θx-axis posture changing unit attached to the Z-axis moving unit 19, and 21 denotes a component holding unit attached to the second θx-axis posture changing unit 20. The second θx axis attitude changing means 20 is a rotation mechanism that can rotate around a rotation axis parallel to the X axis. It can be said that the second Y-axis moving unit 18 and the second Z-axis moving unit are assembly component transport units that transport the assembly component held by the component holding unit toward the assembly unit in the XY plane.

The assembly part is composed of 1 to 9 in the figure, 1 is a stand, 2 is a stand attached to the stand 1 and extends in the Z direction, 3 is a Y axis moving means attached to the stand 2 and movable in the Y axis direction, Reference numeral 4 denotes a first X-axis moving unit that is attached to the Y-axis moving unit 3 and is movable in the X-axis direction. Reference numeral 5 denotes a first hand attached to the first X-axis moving means 4.
The Y-axis moving unit 3, the X-axis moving unit 4, and the first hand 5 are supported by the stand 2 so as to be arranged at a position higher in the Z-axis direction than the upper surface of the gantry.

  Reference numeral 6 denotes a second X-axis moving means attached to the gantry 1 and movable in the X-axis direction, and reference numeral 7 denotes a first Z-axis movement attached to the second X-axis moving means 6 and movable in the Z-axis direction. Means. Reference numeral 8 denotes a θx-axis attitude changing means attached to the Z-axis moving means 7, and 9 denotes a work table attached to the θx-axis attitude changing means 8. The θx axis posture changing means 8 is a rotation mechanism that can rotate around a rotation axis parallel to the X axis.

(Automatic assembly system connecting assembly stations)
The assembly station shown in FIG. 1 can constitute an automatic assembly system that performs a continuous assembly operation by connecting a plurality of stations. FIG. 2 shows an overview of an example in which three assembly stations of this embodiment are connected. At each assembly station, different parts are assembled. The assembled parts whose parts have been assembled on the work table 9 of one assembly station are transported to the adjacent assembly station side by the second X-axis moving means 6 of the assembly station, and the work table of the adjacent assembly station. Passed to 9. At the adjacent assembly station, another part is assembled and transferred to the adjacent assembly station.

(Operation of assembly station)
First, an outline of the operation of the assembly station will be described, and then a process related to assembly from delivery of assembly parts to assembly parts will be described in detail.
First, the component supply unit picks up the assembly component 17 stored in the supply pallet 16 with the second hand 15. The picked-up assembly component 17 is transported to the component delivery unit side and delivered from the second hand 15 to the component holding unit 21 of the component delivery unit. The component delivery unit transports the assembly component 17 held by the component holding unit 21 to the assembly unit side along the Y axis, and rotates the X axis about the X axis as necessary to change the posture. The assembly component 17 that has arrived at the assembly unit side is delivered from the component holding unit 21 to the first hand 5 of the assembly unit. The first hand 5 holding the assembly component 17 moves above the work table 9 of the assembly unit. The worktable 9 holds the assembly target part 22 received from the assembly station adjacent on the upstream side, and an operation of assembling the assembly part 17 to the assembly target part 22 is performed. After the assembly is completed, the work table 9 moves the completed assembly in the X direction and delivers it to the assembly station on the downstream side. By repeating the above operations, the assembly of parts is automatically performed continuously.
Hereinafter, the process after an assembly part is picked up by the hand 15 in the part supply unit will be described in more detail.

  FIG. 3 is a flowchart showing a series of process flows from delivery of assembly parts to assembly to assembly parts. FIGS. 4A to 4C, FIGS. 5D to 5F, and FIGS. 6G to 6I correspond to steps S31 to S39 shown in the flowchart of FIG. It is the figure which showed typically the operation state of the apparatus.

  First, in step S31 of FIG. 3, the operation of (a) “component supply unit transports assembly component” is performed. That is, as shown in FIG. 4A, the assembly part 17 gripped by the second hand 15 is conveyed to the part delivery part side by the Y-axis moving means 12 of the part supply part. During this time, the component holding unit 21 of the component delivery unit stands by at the receiving position shown in FIG.

  Next, in step S32 of FIG. 3, the operation of (b) “the component holding portion is raised by the second Z-axis moving means and the assembled component is received” is performed. That is, as shown in FIG. 4B, the component holding unit 21 is raised to the position of the second hand 15 by the second Z-axis moving unit 19, and the assembly component 17 is transferred to the component holding unit 21.

  Next, in step S <b> 33 of FIG. 3, the operation of (c) “the component holding unit is lowered by the second Z-axis moving unit” is performed. That is, as shown in FIG. 4 (c), the θx-axis posture changing means 20, the component holding part 21, and the assembly component 17 are lowered by the second Z-axis moving means 19. This is to prevent these portions from interfering with the first hand 5 and the second hand 15 during the next operation.

  Next, in step S34 of FIG. 3, the operation of (d) “Part holding unit moves Y-axis + θx attitude changed by second Y-axis moving means + θx-axis attitude changing means” is performed. That is, as shown in FIG. 5 (d), the second Y-axis moving means 18 moves the Z-axis moving means 19, the θx-axis posture changing means 20, the component holding part 21, and the assembly component 17 to the first hand 5. Move to a position directly below.

  If the assembly component 17 cannot be assembled with the posture of the assembly component 17 when supplied from the component supply unit, the orientation of the assembly component 17 is rotated in parallel with the X axis by the θx axis posture change means 20 during the movement. Rotate around an axis. The assembly parts 17 are often stored in the supply pallet 16 in a direction in which the filling efficiency is increased or in a direction in which the clean surface is not exposed. Because there is.

  Next, in step S35 of FIG. 3, the operation of (e) “the component holding unit is raised by the second Z-axis moving means and the assembly component is delivered” is performed. That is, as shown in FIG. 5E, the component holding unit 21 is raised to the position of the first hand 5 by the second Z-axis moving means 19, and the assembly component 17 is transferred to the first hand 5.

  Next, in step S36 of FIG. 3, the operation of (f) “part holding portion is lowered by second Z-axis moving means” is performed. That is, as shown in FIG. 5F, the second Z-axis moving means 19 lowers the θx-axis posture changing means 20 and the component holding part 21. This is to prevent these parts from interfering with the assembly part 17 and the second hand 15 gripped by the first hand 5 during the next operation.

  Next, in step S37 of FIG. 3, the operation of (g) “the first assembly component gripping hand is moved in the Y-axis by the first Y-axis moving means, and the delivery unit side is moved to the standby position” is performed. That is, as shown in FIG. 6G, the assembly component 17 gripped by the first hand 5 is transported to the next work position performed by the assembly apparatus by the first Y-axis moving means 3. Although the process is not shown, the assembly target part 22 is transferred from the work station 9 of the upstream assembly station to the work table 9 of the own station until the transfer is completed. Further, the second Y-axis moving unit 18 moves the Z-axis moving unit 19, the θx-axis posture changing unit 20, and the component holding unit 21 to the standby position in FIG. When the θx-axis posture is changed in step S34, the posture of the component holding unit 21 is returned to the original posture by the θx-axis posture changing means 20 during the movement as shown in FIG. 6 (g).

  Next, in step S38 of FIG. 3, the operation of (h) “The work table is raised by the first Z-axis moving means and the part to be assembled is assembled to the assembled part” is performed. That is, as shown in FIG. 6 (h), the first Z-axis moving means 7 raises the θx-axis posture changing means 8 and the work table 9 to the position shown in FIG. 6 (h), and the assembly component 17 is assembled. Assemble to part 22.

  Next, in step S39 of FIG. 3, the operation of (i) “the work table is lowered by the first Z-axis moving means” is performed. That is, as shown in FIG. 4 (i), the first Z-axis moving means 7 lowers the θx-axis posture changing means 8, the work table 9, and the part to be assembled 22. Next, it is for conveying the to-be-assembled components 22 to the downstream assembly station.

  As described above, the delivery of the assembly component 17 from the component supply unit to the assembly unit and the assembly in the assembly unit are completed. By repeating this operation, continuous automatic assembly can be performed.

  In this embodiment, it is configured such that the stroke (movement distance) of the second Y-axis movement means 18 of the component delivery unit is larger than the stroke (movement distance) of the Y-axis movement means 3 of the assembly part. desirable.

  In order to reduce the vibration of the first hand 5 as much as possible in order to perform the assembly work with high positional accuracy in the assembly part, it is effective to reduce the stroke (movement distance) of the Y-axis moving means 3 as much as possible. is there. On the other hand, the parts delivery section transports the assembly parts received from the parts supply section to the assembly section, but the need for vibration reduction is much smaller than that of the assembly section, and it is suppressed to the extent that it does not hinder assembly parts delivery. I can do it. Therefore, the second Y-axis moving means 18 of the component delivery unit takes charge of the majority of the transport distance in the Y direction from the parts supply unit to the assembly position, and the second Y-axis movement The assembly part 17 is preferably transported to the vicinity of the work table 9 by means 18.

  In the present embodiment, by providing the second Y-axis moving means 18 at a low position close to the gantry surface, the amount of overhang from the gantry 10 of the Y-axis moving means 12 of the component supply unit located at a high position from the gantry surface. In addition, the amount of protrusion of the Y-axis moving means 3 from the gantry 1 can be reduced. For this reason, the total length of the assembly station in the Y direction could be shortened.

  Since the overhang length of the Y-axis moving unit 12 of the component supply unit from the gantry 10 is shortened, the amount of vibration can be suppressed during delivery compared to the conventional case, and the Y-axis moving unit 12 has a low rigidity. Inexpensive transportation means can be used.

  Further, the first Y-axis moving means to which the first hand 5 is attached is obtained by moving the assembly part 17 by the second Y-axis moving means 18 to the vicinity of the work table 9 that holds the part 22 to be assembled. The length of 3 can be shortened. For this reason, the rigidity of the first Y-axis moving means 3 can be increased, and the vibration of the first hand 5 can be reduced.

  Further, in the present embodiment, the θx-axis posture changing means 20 can change the posture of the assembly part 17 in the θx-axis direction when moving by the second Y-axis moving means 18, so that the work time required for the posture change is shortened. I was able to do it.

  In the present embodiment, the second Y-axis moving unit 18 is a unit that moves in the direction along the Y-axis orthogonal to the X-axis. However, the present invention is not necessarily limited to this. For example, a moving means in an oblique direction different from the Y-axis direction in the XY plane may be used, and may be appropriately changed depending on the arrangement of the component supply unit and the assembly unit.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.
(Configuration of assembly station)
FIG. 7 is an external view of an assembly station of the automatic assembly apparatus according to the second embodiment, and includes three parts: a component supply unit, a component delivery unit, and an assembly unit.
The assembly unit is configured by 1 to 9 in the figure, and the component supply unit is configured by 10 to 17. However, since these are the same configurations as those in the first embodiment, description thereof is omitted.

In the component delivery section of the first embodiment, the second Y is located at a position lower in the Z direction than the Y-axis moving means 3 of the assembly section and the Y-axis moving means 12 of the component supply section, that is, a position close to the top surface of the gantry. The shaft moving means 18 was provided.
On the other hand, the component delivery part of 2nd embodiment is equipped with the θz moving means 23 which is a rotation mechanism which can be rotated centering on the rotating shaft parallel to a Z axis instead of a Y-axis moving means. The θz moving means 23 is arranged at a position lower than the Y-axis moving means 3 of the assembling unit and the Y-axis moving means 12 of the component supply unit when viewed in the Z direction, that is, a position close to the top surface of the gantry. The component delivery unit includes a second Z-axis moving unit 19 that is movable to the Z-axis attached to the θz moving unit 23, a second θx-axis posture changing unit 20 that is attached to the Z-axis moving unit 19, and a first 2 and a component holding part 21 attached to the θx axis posture changing means 20. In the present embodiment, the component holding unit 21 can be moved between the component supply unit side and the assembly unit side by driving the θz moving unit 23 around a rotation axis parallel to the Z axis.

(Automatic assembly system connecting assembly stations)
The assembly station shown in FIG. 7 can constitute an automatic assembly system that performs a continuous assembly operation by connecting a plurality of stations. FIG. 8 shows an overview of an example in which three assembly stations of this embodiment are connected. At each assembly station, different parts are assembled. The assembled parts whose parts have been assembled on the work table 9 of one assembly station are transported to the adjacent assembly station side by the second X-axis moving means 6 of the assembly station, and the work table of the adjacent assembly station. Passed to 9. At the adjacent assembly station, another part is assembled and transferred to the adjacent assembly station.

(Operation of assembly station)
First, an outline of the operation of the assembly station will be described, and then a process related to assembly from delivery of assembly parts to assembly parts will be described in detail.

  First, the component supply unit picks up the assembly component 17 stored in the supply pallet 16 with the second hand 15. The picked-up assembly component 17 is transported to the component delivery unit side and is delivered from the second hand 15 to the component holding unit 21 of the component delivery unit. The component delivery unit drives the θz moving means 23 to convey the assembly component 17 held by the component holding unit 21 to the assembly unit side, and rotates the X component about the X axis as necessary. Change posture. The assembly component 17 that has arrived at the assembly unit side is delivered from the component holding unit 21 to the first hand 5 of the assembly unit. The first hand 5 holding the assembly component 17 moves above the work table 9 of the assembly unit. The worktable 9 holds the assembly target part 22 received from the assembly station adjacent on the upstream side, and an operation of assembling the assembly part 17 to the assembly target part 22 is performed. After completion of assembly, the work table 9 delivers the completed assembly to the downstream assembly station. By repeating the above operation, the parts are automatically assembled.

Next, the process after the assembly parts are picked up by the hand 15 in the parts supply unit will be described in more detail.
FIG. 9 is a flowchart showing a series of process flows from delivery of assembly parts to assembly to an assembly target part.

  The automatic assembly apparatus of the present embodiment first performs the operations from step S91 to step S93, but these are the same as the operations from step S31 to step S33 of the first embodiment, and thus detailed description thereof is omitted.

  Next, in step S94 of the present embodiment, the operation of (d) “the component holding unit performs θz movement + θx axis posture change by the θz moving unit + θx axis posture changing unit” is performed. That is, as shown in FIG. 10, the θz moving means 23 is rotated 180 ° in the θz direction, and the Z-axis moving means 19, the θx-axis posture changing means 20, the component holding portion 21, and the assembly component 17 are moved to the first hand 5. Move to a position directly below.

If the assembly component 17 cannot be assembled with the posture of the assembly component 17 when supplied from the component supply unit, the orientation of the assembly component 17 is rotated in parallel with the X axis by the θx axis posture change means 20 during the movement. Rotate around an axis. The assembly parts 17 are often stored in the supply pallet 16 in a direction in which the filling efficiency is increased or in a direction in which the clean surface is not exposed. Because there is.
Next, operations from step S95 to step S99 are performed. Since these are the same as the operations from step S35 to step S39 in the first embodiment, detailed description thereof is omitted.

  As described above, the delivery of the assembly component 17 from the component supply unit to the assembly unit and the assembly in the assembly unit are completed. By repeating this operation, continuous automatic assembly can be performed.

  In the present embodiment, the distance (that is, the rotation diameter) by which the assembly component 17 moves in the Y-axis direction in the XY plane by the θz moving unit 23 of the component delivery unit is the stroke (movement distance) of the Y-axis moving unit 3 of the assembly unit. It is desirable to make it larger than

  In order to reduce the vibration of the first hand 5 as much as possible in order to perform the assembly work with high positional accuracy in the assembly unit, it is effective to reduce the stroke (movement distance) of the Y-axis moving means 3 for that purpose. . On the other hand, the parts delivery section transports the assembly parts received from the parts supply section to the assembly section, but the need for vibration reduction is much smaller than that of the assembly section, and it is suppressed to the extent that it does not hinder assembly parts delivery. I can do it. Therefore, the θz moving means 23 of the component delivery unit takes charge of the majority of the transport distance in the Y direction from the component supply unit to the assembly position, and the assembly component 17 is brought close to the work table 9. It is good to carry.

  In this embodiment, by providing the θz moving means 23 at a low position close to the gantry surface, the amount of overhang from the gantry 10 of the Y axis moving means 12 of the component supply unit at a high position from the gantry surface, or the Y axis The amount of protrusion of the moving means 3 from the gantry 1 could be reduced. For this reason, the total length of the assembly station in the Y direction could be shortened.

  Since the overhang length of the Y-axis moving means 12 of the component supply unit from the gantry 10 is shortened, the amount of vibration can be suppressed during delivery compared to the conventional case, and the Y-axis moving means 12 has a low rigidity and low cost. It is now possible to use various moving means.

  Further, the assembly part 17 is moved to the vicinity of the work table 9 that grips the part 22 to be assembled by the θz moving unit 23, whereby the length of the first Y-axis moving unit 3 to which the first hand 5 is attached. Can be shortened. For this reason, the rigidity of the first Y-axis moving means 3 can be increased, and the vibration of the first hand 5 can be reduced.

  Further, in the present embodiment, since the posture of the assembly part 17 can be changed in the θx-axis direction when the θx-axis posture changing means 20 is moved by the θz moving means 23, the work time required for the posture change can be shortened. I was able to do it.

  In the present embodiment, the θz moving unit 23 rotates 180 degrees and conveys the assembly component from the component supply unit to the assembly unit. However, the present invention is not necessarily limited to this. For example, the rotational movement may be less than 180 degrees, and may be changed as appropriate depending on the arrangement of the component supply unit and the assembly unit.

[Other Embodiments]
Embodiments of the present invention are not limited to the first to second embodiments described above, and can be changed or combined as appropriate.

  DESCRIPTION OF SYMBOLS 1 ... Base / 2 ... Stand / 3 ... Y-axis moving means / 4 ... 1st X-axis moving means / 5 ... 1st hand / 6 ... 2nd X Axis moving means / 7 ... first Z-axis moving means / 8 ... θx axis posture changing means / 9 ... work table / 10 ... stand / 11 ... stand / 12 ... parts Y-axis moving means of supply unit / 13... X-axis moving means of component supply unit / 14... Z-axis moving means of component supply unit / 15. 17... Assembly parts / 18... Second Y-axis movement means / 19... Second Z-axis movement means / 20... Second θx-axis attitude changing means / 21. Part / 22... Assembly target part / 23... Θz moving means

Claims (10)

An automatic assembly apparatus comprising a component supply unit, a component delivery unit, and an assembly unit,
The component supply unit has supply means for supplying an assembly component to the component delivery unit,
The component delivery unit includes a component holding unit that holds the assembly component supplied from the supply unit;
An assembly part transporting part for transporting the assembly part held by the part holding part toward the assembly part in an XY plane,
The assembly unit includes a hand that receives the assembly component conveyed by the assembly component conveyance unit from the component holding unit, a Y-axis moving unit that moves the hand to the assembly work position in the Y direction, and an assembly target component. A work table to be held, and Z-axis moving means for moving the work table in the Z direction and assembling the assembly part gripped by the hand to the assembly target part held by the work table,
An automatic assembly apparatus characterized by that. The distance that the assembly part transport unit transports the assembly part in the XY plane is longer than the distance that the Y-axis moving unit moves the hand in the Y direction.
The automatic assembly apparatus according to claim 1. The assembly part transport unit is a second Y-axis movement unit that transports the assembly part in the Y direction at a height lower than that of the Y-axis movement unit when viewed in the Z direction.
The automatic assembly apparatus according to claim 1, wherein the automatic assembly apparatus is an automatic assembly apparatus. The assembly part transport unit is θz moving means for rotating and transporting the assembly part at a height lower than that of the Y-axis moving means when viewed in the Z direction.
The automatic assembly apparatus according to claim 1, wherein the automatic assembly apparatus is an automatic assembly apparatus. The component delivery unit has posture changing means for changing the posture of the assembly component held by the component holding unit,
The automatic assembly apparatus according to any one of claims 1 to 4, wherein The component delivery unit includes a second Z-axis moving unit that moves the component holding unit in the Z direction.
The automatic assembly apparatus according to any one of claims 1 to 5, wherein The component supply unit
A supply pallet containing the assembly parts;
A second hand for picking up the assembly parts stored in the supply pallet;
A second hand moving means capable of moving the second hand in three directions of an X axis, a Y axis, and a Z axis;
The automatic assembly apparatus according to any one of claims 1 to 6, wherein The assembly unit includes an X-axis moving unit that moves the work table in the X direction.
The automatic assembly apparatus according to any one of claims 1 to 7, wherein A plurality of the automatic assembly apparatuses according to any one of claims 1 to 8 are connected,
An automatic assembly system characterized by that. The assembly section of each of the plurality of automatic assembly apparatuses has an X-axis moving means for moving the work table in the X direction,
By the X-axis moving means, the assembled parts that have been assembled are transported to an adjacent automatic assembly device.
The automatic assembly system according to claim 9.

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