JP5155230B2 - Work assembly apparatus and control method thereof - Google Patents

Description

  The present invention relates to a workpiece assembling apparatus and a control method for the workpiece assembling that enable manual assembling with respect to a positioned workpiece.

  There is a workpiece assembling technique that allows an operator to manually assemble a positioned workpiece (see Patent Document 1). Such an assembling apparatus recognizes that the tightening is completed, for example, when an operator performs tightening with a nut runner and detects a torque exceeding a certain level. Then, when it is recognized that the tightening is completed at all the tightening positions by accumulating the number of screws that have been tightened, the work is transported to the next station. On the other hand, a warning is issued to the operator if an attempt is made to convey the sheet downstream in the conveying direction without completing the tightening at all the tightening positions.

JP 2000-24945 A

  However, with the technique described in Patent Document 1, it is possible to confirm whether or not forgetting to tighten the workpiece, but it is not possible to immediately confirm which of the plurality of tightening portions has been forgotten to be tightened. For this reason, an operator must check a plurality of tightening parts one by one and specify a tightening part that has not been completed, which is a major factor in reducing productivity.

  Accordingly, an object of the present invention is to make it possible to easily recognize a work site where an operator is not working.

  In order to solve the above-described problems, a work assembly apparatus according to the present invention includes a work support means for supporting a work in a horizontal state, and a support member that is supported so as to be movable in the horizontal direction above and below the work support means. Working means for performing work on a plurality of work parts on the upper surface or side surface of the work supported by the support member so as to be movable in the vertical direction and supported by the work support means, and the support member One end portion thereof is supported, and a stretching member extending in the horizontal direction or the vertical direction, and a plurality of read portions disposed corresponding to the positions of the plurality of work parts at a position spaced from the stretching member, A reading unit that is fixed to the extending member and reads information stored in a read portion corresponding to each work site in accordance with the movement of the working unit, and read by the reading unit. Based on the information, a specifying means for specifying a work completion part where the work has been performed and a work incomplete part where the work has not been performed, a work completion part specified by the specification means, Display means for displaying at least one of the completed parts in an identifiable manner.

  According to the present invention, since the reading unit is fixed to the extending member and moves in accordance with the movement of the working unit, the work completion site is specified every time each of the plurality of work sites is performed. be able to. In addition, since the display means can display at least one of the work completion part and the work incomplete part in an identifiable manner, it is possible to easily recognize a work part where the worker is not working. It becomes.

  In the present invention, there is further provided a determination means for determining whether or not the work for the work completion part satisfies a predetermined condition, and the display means is determined to satisfy the condition by the determination means. The configuration may be such that at least one of the work completion part and the work completion part determined not to satisfy the condition is displayed in an identifiable manner.

  According to this configuration, since the determination unit is provided, the display unit can display whether or not the work for the work completion site satisfies the condition. As a result, it is possible to easily recognize a work part that does not satisfy the above-mentioned condition although the worker is working.

  Also, in the present invention, the working means performs a tightening operation on the plurality of work parts, and the determination means determines whether the tightening torque for the work completion parts is within a predetermined range. The structure which determines this may be sufficient. According to this configuration, the determination unit can display the determination result on the display unit in an identifiable manner by determining whether or not the tightening torque for the specified tightening region is within the range. .

  In the present invention, the display means specifies any work site as the work incomplete part by the specifying means, or the work for any work completion part by the determination means satisfies the condition. In a case where it is determined that there is no work, the work means may display information indicating that the work should be performed on the work incomplete part or the work completion part that is determined not to satisfy the condition.

  According to this configuration, the display means displays information indicating that the work should be performed on the work incomplete part or the work completion part that is determined not to satisfy the condition by the work means. It is possible to determine whether or not the work on the work part has been normally completed without depending on the subjectivity.

  Further, in the present invention, when all the work parts are specified as the work completion parts by the specifying means, and the work for all the work parts is determined by the determination means to satisfy the condition, the workpiece It may be configured to further include a transport means for transporting to a subsequent transport destination. According to this configuration, it is possible to prevent a workpiece that does not satisfy a condition predetermined by the operator's subjectivity from being conveyed to the subsequent conveyance destination.

  In the present invention, the apparatus further includes a transport unit that transports the work that has been performed by the work unit to the first or second transport destination. When the work is specified as a work completion part and the work for all the work completion parts specified by the determination means is determined to satisfy the condition, the work is transferred to the first transfer destination, and The work is determined when any of the work parts is specified as the work incomplete part by the specifying means, or when the work for any of the work complete parts does not satisfy the condition by the determination means. It may be configured to transport to the second transport destination. According to this configuration, since the workpiece that satisfies the predetermined condition is conveyed to the first conveyance destination, the workpiece that does not satisfy the predetermined condition is conveyed to the second conveyance destination. A workpiece that satisfies the conditions and a workpiece that does not satisfy the predetermined conditions can be transported to different transport destinations.

  In the present invention, the storage means stores the order in which the plurality of read parts should be read by the reading means, and the work completion site is stored in the storage means based on the information read by the reading means. Trace determining means for determining whether or not the work completion site has been specified in accordance with the order stored in the storage means by the trace determining means. In such a case, the configuration may be such that a work completion site that has not been specified according to the order is displayed in an identifiable manner. According to this configuration, since the display means displays the work completion parts not specified according to the order in an identifiable manner, the operator can easily recognize that the work incomplete parts have occurred.

  In the present invention, the plurality of read parts may be arranged in the same positional relationship as that of the plurality of work parts. According to this configuration, it is possible to reliably recognize the corresponding read unit when the reading unit moves according to the movement of the working unit.

  In the present invention, the plurality of read parts may be arranged on a board that is detachably supported at a position spaced from the extending member. According to this configuration, since the plurality of read parts are arranged on the board, it is possible to easily shift to assembly work of a work having a work part different from the work part by replacing the board.

  In the present invention, the display means may be configured to display at least one of the work completion site and the work incomplete site in the same positional relationship as that of the plurality of work sites. According to this configuration, it is possible to improve the recognition of the work completion part and the work incomplete part by an operator.

  Further, the control method according to the present invention includes a work support means for supporting a work in a horizontal state, a support member supported so as to be movable in the horizontal direction above and above the work support means, and the support member. And a working means for working on a plurality of work parts on the upper surface or side surface of the work supported by the work supporting means, and one end of which is supported by the support member. A stretching member extending in a horizontal direction or a vertical direction, a plurality of read portions disposed corresponding to the positions of the plurality of work parts at positions spaced apart from the stretching member, and fixed to the stretching member. And a reading means for reading information stored in a read portion corresponding to each work site in accordance with the movement of the work means, the method for controlling a workpiece assembling apparatus, Based on the information read in the stage, a specific process for identifying a work completion part where work has been performed by the working means and a work incomplete part where the work has not been performed, and the work completion specified in the specific process And a display step of displaying at least one of the part and the unfinished part in an identifiable manner.

  According to the control method of the present invention, since the reading unit is fixed to the extending member and moves in accordance with the movement of the working unit, each time the plurality of work parts are performed, The work completion site can be specified. In addition, since the display step can display at least one of the work completion part and the work incomplete part in an identifiable manner, it is possible to easily recognize a work part where the worker is not performing work. It becomes.

  According to the present invention, it is possible to easily recognize a work site where an operator is not working.

1 is a perspective view showing a configuration of a workpiece assembling apparatus 100 according to an embodiment of the present invention. 1 is a right perspective view illustrating a configuration of a workpiece assembling apparatus 100 according to an embodiment. FIG. 2 is a top view showing a configuration of a workpiece assembly apparatus 100. (A) is a side view showing the positional relationship between the read unit 50 and the reading unit 60, and (b) is a top view showing the positional relationship between the read unit 50 and the reading unit 60. 4 is a plan view showing a configuration of a transport unit 80. FIG. FIG. 2 is a diagram illustrating a functional configuration of a workpiece assembly apparatus 100. It is a figure which shows the process sequence of the workpiece | work assembly apparatus. It is a perspective view which shows the structure of the workpiece | work assembly apparatus 200 which concerns on a modification.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiment described below is an example as means for realizing the present invention, and the present invention can be applied to a modified or modified embodiment described below without departing from the spirit of the present invention.

[Configuration of Work Assembly Device 100]
FIG. 1 is a perspective view showing a configuration of a workpiece assembling apparatus 100 according to an embodiment of the present invention. FIG. 2 is a right perspective view showing the configuration of the workpiece assembling apparatus 100 according to the embodiment. FIG. 3 is a top view showing the configuration of the workpiece assembling apparatus 100. 4A is a side view showing the positional relationship between the read unit 50 and the reading unit 60, and FIG. 4B is a top view showing the positional relationship between the read unit 50 and the reading unit 60. is there. FIG. 5 is a plan view showing a configuration of another form of the transport unit 80.

  The workpiece assembly apparatus 100 includes a workpiece support unit 10, a support member 20, a working unit 30, a stretching member 40, a plurality of read units 50, a reading unit 60, a display unit 70, a conveyance unit 80, And a control device 90 to be described later with reference to FIG.

  The workpiece support unit 10 supports the workpiece W (for example, a torque converter) conveyed by the conveyance unit 80 in a horizontal state. The workpiece W is loaded on the pallet P1 and conveyed. The work support unit 10 includes a plurality of support pins 11, a support member 12 that supports the plurality of support pins 11, and a cylinder 13 that raises and lowers the support member 12. The support pin 11 waits below the conveyance surface until the workpiece W conveyed from the upstream is stopped by a stopper S1 described later, and ascends above the conveyance surface when the workpiece W is stopped. Lift up. The workpiece support 10 is provided with a stopper S1 for stopping the workpiece W at a predetermined position. The stopper S1 rises and protrudes from the conveyance surface when pushed up at a desired timing by the cylinder S1a. The support member 20 is supported by the gantry 5 so as to be movable in the horizontal direction above the workpiece support 10.

  The gantry 5 includes a base frame 5a extending in the horizontal direction, a column frame 5b standing upright from one end of the base frame 5a, and a ceiling frame 5c extending in the horizontal direction from the upper end of the column frame 5b. That is, the gantry 5 is formed in a substantially U-shape. The ceiling frame 5c is positioned at least above the work support 10 so that the work 30 can be operated by the work 30 while the work support 10 lifts the work W. The ceiling frame 5c is provided with a guide rail G1 extending in a direction orthogonal to the conveyance direction of the workpiece W (X-axis direction) and a guide rail G2 extending in the same direction (Y-axis direction) as the conveyance direction of the workpiece W. It is done. Each of the guide rails G1 and G2 has two rails extending in parallel with each other. The guide rail G1 supports a fixed portion G2a that fixes the guide rail G2 so as to be slidable in the X-axis direction. The guide rail G2 supports the upper end part of the support member 20 so that sliding is possible. Therefore, the support member 20 can freely move in both the X-axis direction and the Y-axis direction by the guide rails G1 and G2.

  The work unit 30 is supported so as to be movable in the vertical direction (Z-axis direction) with respect to the support member 20, and is a nut runner that performs tightening work on a plurality of work parts on the upper surface of the work W supported by the work support unit 10. It is. The working unit 30 is arranged so that the head of the nutrunner faces downward. The support member 20 is provided with a handle portion H1 for operating the movement of the working unit 30. In this embodiment, the working unit 30 is provided with a driver circuit (not shown) that drives the working unit 30.

  The work unit 30 is moved by the operator in the vertical direction so as to match the height of each work site, and the tightening work is performed. One end of the stretching member 40 is supported by the support member 20 and extends in the horizontal direction (X-axis direction) so as to be separated from the operator. Therefore, the extending member 40 moves in the horizontal direction integrally with the support member 20.

  A plurality of read parts 50 are arranged at positions separated from the extending member 40 corresponding to the positions of the plurality of work parts. In other words, in the present embodiment, the read unit 50 is disposed in the same positional relationship as the positional relationship of the plurality of work parts on the horizontal plane. The read unit 50 is disposed on a board B1 that is detachably supported at a position separated from the stretching member 40. In this embodiment, the board B1 is horizontally disposed on the mounting shelf 5d spanned between the support frame 5b of the gantry 5 immediately below the distal end portion of the extending member 40. The mounting shelf 5d is provided with a positioning pin (not shown) protruding from the upper surface thereof, and the horizontal position of the board B1 is defined by being inserted into a positioning hole (not shown) provided in the board B1. When the type of the workpiece W to be worked is changed, the worker removes the placed board B1 and newly installs the board B1 on which the read unit 50 corresponding to the next workpiece is arranged. Place. The reading unit 60 is fixed to the distal end portion of the extending member 40, and reads information stored in the read unit 50 corresponding to each work site as the work unit 30 moves.

  The read unit 50 is, for example, an IC tag capable of storing various information, and the reading unit 60 reads information stored in the IC tag in a non-contact manner by performing wireless communication with the IC tag. It is a leader. The same number is registered in an IC tag having the same positional relationship as an identifier (for example, an identification number) allocated in advance for each work part of the workpiece W. With the current technology of RFID (Radio Frequency IDentification), reading is possible within a range of several centimeters to several meters. Therefore, when the work part of the workpiece W is close as in the present embodiment, the one having the narrowest reading range is used, and when the work part is relatively separated, the reading range is By using a wide one, problems such as erroneous recognition of the IC tag can be suppressed.

  In this embodiment, the read unit 50 is an IC tag and the reading unit 60 is a reader. However, any method may be used as long as it is a non-contact reading method. The reading unit 50 may be a barcode, and the reading unit 60 may be a barcode reader.

  The display unit 70 is supported by the member 5e fixed to the support frame 5b and extending in the X-axis direction so as to be rotatable about the Z-axis. The display unit 70 is a touch panel display that can display information such as work status and can be input by touching the display screen by the operator. In this embodiment, for example, a work end button or the like to be pressed when the operator determines that a series of work has been completed is displayed on the display. In this embodiment, the work end button or the like is displayed on the touch panel display so that the operator can press it. However, a mechanical button may be provided. The display unit 70 may not be a touch panel type.

  The conveyance unit 80 is a conveyance conveyor that conveys the workpiece W by a plurality of rollers arranged in the conveyance direction between the processing steps before and after the workpiece assembly apparatus 100. The transport unit 80 includes a drive motor 83 that drives the transport conveyor. When the load of the workpiece W is larger than the conveying force of the roller, the rotation of the roller is stopped, and when the load of the workpiece W is smaller than the conveying force of the roller, the roller rotates to remove the workpiece W. The idling load is adjusted using the frictional force set to convey. For this reason, in this embodiment, the drive motor 83 can be always driven (ON). The conveyance unit 80 is configured such that the conveyance height of the workpiece W is between the base frame 5a and the ceiling frame 5c.

  Although not shown in FIGS. 1 and 2, the transport unit 80 includes a first transport destination 81 that is a downstream downstream work station and a second transport destination 82 that is a payout destination. The conveyance unit 80 branches at a position where the workpiece assembly apparatus 100 is provided, and conveys it to the second conveyance destination 82 by the dispensing mechanism 84. The payout mechanism 84 extends in a direction substantially orthogonal to the conveyance direction to the first conveyance destination 81. In the present embodiment, the conveyance unit 80 can convey the workpiece W to either the first conveyance destination 81 or the second conveyance destination 82 by providing the dispensing mechanism 84 at the same position as the workpiece assembly apparatus 100. However, the work W may be branched by providing the payout mechanism 84 not at the same position as the work assembly apparatus 100 but downstream from the work assembly apparatus 100.

  FIG. 6 is a diagram showing a functional configuration of the workpiece assembling apparatus 100. The control device 90 includes a calculation unit (for example, a CPU), a storage unit (for example, a ROM, a RAM, and an HDD), and a control unit (for example, a control circuit and a driver circuit for the display unit 70, the work support unit 10, and the conveyance unit 80). Then, the reading result of the reading unit 60 and the determination result of the determination unit 31 are received, and the display unit 70, the work support unit 10, and the conveyance unit 80 are controlled. The control device 90 may be provided independently of the work assembling apparatus 100, or may be a common control apparatus that controls not only the work assembling apparatus 100 but also other processing steps.

  The determination unit 31 is a functional module included in the driver circuit of the working unit 30 and has a check function for determining whether or not the work on the work completion site satisfies a predetermined condition. That is, in this embodiment, the determination unit 31 can determine whether or not the tightening torque by the nut runner is within a predetermined range, and can output the determination result to the control device 90.

  In the present embodiment, the driver circuit of the working unit 30 has the determination unit 31, but the control device 90 may function as the determination unit 31.

  The calculation unit of the control device 90 includes a specifying unit 91 as its function module. Based on the identifier information read by the reading unit 60, the specifying unit 91 associates the work completion site where the work unit 30 has performed with the information of the determination unit 31 that has determined the work result of the work unit 30, The work completion part and work result are specified.

  The storage unit 93 stores a database 93a in which at least the identifier of the target work is recorded, and a determination condition 93b determined by a comprehensive determination unit described later. In the database 93a, information specified by the specifying unit 91 is stored in a state associated with an identifier. Furthermore, the order of identifier information to be read by the reading unit 60 can be set in advance in the database 93a. The determination condition 93b stores a trigger for starting a determination operation, which will be described later, a determination operation procedure, a control content based on the determination result, and the like. A plurality of pieces of information in the storage unit 93 can be prepared in advance for each type of work. It can also be connected and replaced with a personal computer.

  The calculation unit of the control device 90 also has a comprehensive determination unit 92 as its functional module. The overall determination unit 92 compares the information in the database 93a in the storage unit 93 with the determination condition 93b in the storage unit 93, and determines the determination start time, the determination work procedure, the control content based on the determination result, and the like.

  The display unit 70, the work support unit 10, and the transport unit 80 are connected to the control unit 94 of the control device 90. For example, based on the determination result of the comprehensive determination unit 92, the display unit 70, the work support unit 10, and the transport unit. 80 (for example, the payout mechanism 84) is controlled.

  The display unit 70 displays at least one of the work completion part and the work incomplete part with the same positional relation as the positional relation of the plurality of work parts. In this case, the shape of the work W is displayed in a top view of the work W, and the work part with the identifier information (identification number) is displayed together with the work shape, and the work in each work part satisfies the condition for each identification number. It may be displayed whether or not. The display unit 70 may be expressed in a language such as “OK” for a work part that satisfies the condition, “NG” for a work part that does not satisfy the condition, or blue for a work part that satisfies the condition. A work part that does not satisfy the above may be displayed in a color-coded manner such as red. Thereby, a worker's visibility can be improved.

  The display unit 70 displays the work completion site specified by the specification unit 91 based on the database 93a of the storage unit 93 and at least one of the work incomplete sites in an identifiable manner. Further, the display unit 70 displays in a distinguishable manner at least one of the work completion part determined to satisfy the condition and the work completion part determined not to satisfy the condition by the determination part 31.

  When the order of the identifier information to be read by the reading unit 60 is preset in the database 93a of the storage unit 93, the display unit 70 determines that the information on the identifier specified by the specifying unit 91 is different from the preset order. When the determination is made, the work completion parts that are not specified according to the order are displayed so as to be identifiable. In the present embodiment, the overall determination unit 92 performs the determination based on the database 93a of the storage unit 93 created based on the information from the reading unit 60 and the determination unit 31. It is also possible to make a determination in consideration.

[Processing Procedure of Work Assembly Device 100]
FIG. 7 is a diagram illustrating a processing procedure of the workpiece assembling apparatus 100. When the work W is transported from the upstream process to a predetermined position, the stopper S1 is protruded from the height of the transport surface of the transport conveyor to stop the transport of the work W. And the workpiece | work support part 10 raises from the up-down direction downward, and the workpiece | work W is positioned.

  When the positioning of the workpiece W is completed, the worker temporarily tightens bolts and washers manually at each work site. Then, the worker moves the nut runner to each work site and performs the bolt tightening work.

  When the operator moves the nutrunner, the extending member 40 and the reading unit 60 provided at the tip end thereof also move by the same distance, so that the read portion disposed on the board B1 with the same positional relationship as the work site. The identifier information (identification number or the like) stored in the read unit 50 can be read above 50.

  Each time work for each work part is completed, the control device 90 receives information such as the determination result determined by the determination unit 31 and the identification number of the work part read by the reading unit 60 each time, and the control device 90 90 identification units 91 are associated with each other, collated with the identifier information of the database 93a of the storage unit 93, and stored as data of the corresponding identification number. And the control apparatus 90 displays the operation result with respect to each operation | work part on the display part 70 at any time based on such information. When the worker presses the work end button displayed on the display unit 70, the control device 90 performs the following control process using the work end signal as a determination start trigger of the general determination unit 92. In this control processing example, the workpiece W is transferred to the transfer destination 81 or the transfer destination 82 shown in FIG.

  First, in step S1, the comprehensive determination unit 92 determines whether or not all work parts have been specified as work completion parts by the specifying part 91 based on the determination work content of the determination condition 93b in the storage part 93. It is determined by referring to. When it is determined in step S1 that all work parts have been specified as work completion parts, in step S2, the overall determination unit 92 determines the specification unit 91 based on the determination work content next to the determination condition 93b in the storage unit 93. It is determined by referring to the database 93a of the storage unit 93 whether or not the operations for all the operation completion sites specified in (1) satisfy the conditions (that is, the tightening torque is within a predetermined range).

  When it is determined in step S <b> 2 that the work for all work parts satisfies the condition, the comprehensive determination unit 92 displays the determination result on the display unit 70 via the control unit 94 in step S <b> 3. In step S4, the comprehensive determination unit 92 lowers the workpiece support unit 10 and the stopper S1 via the control unit 94 based on the control content based on the determination result of the determination condition 93b of the storage unit 93, and then the transfer unit. 80 conveys the workpiece | work W to the 1st conveyance destination 81 which is a main conveyance line.

  On the other hand, as a result of the comprehensive determination unit 92 referring to the database 93a in the storage unit 93 in step S1, not all work parts have been identified as work completion parts, that is, any work part has been identified as a work incomplete part. If it is determined that the work is completed, in step S6, the overall determination unit 92 satisfies the conditions for the work for all work completion parts specified by the specification part 91 (that is, the tightening torque is within a predetermined range). It is determined by referring to the database 93a based on the determination work contents of the determination condition 93b in the storage unit 93.

  When it is determined in step S2 or step S6 that the comprehensive determination unit 92 does not satisfy the condition for any work completion site specified by the specifying unit 91, in step S7, the comprehensive determination unit 92 determines the determination result. Based on the above, the control unit 94 displays on the display unit 70 the identification number of at least one of the work completion part and work non-completion part determined to not satisfy the condition.

  In step S8, the comprehensive determination unit 92 lowers the support pin 11 and the stopper S1 of the work support unit 10 based on the command content based on the determination result of the determination condition 93b of the storage unit 93, and then raises the dispensing mechanism 84. Then, the work W is transported to the second transport destination 82 which is the payout destination.

  As a result, work and the like whose tightening torque deviates from the predetermined range can be discharged to the payout destination (second transport destination 82) independent of the production line, so that the work can be stopped. As a result, a decrease in productivity can be suppressed.

  On the other hand, when it is determined in step S6 that the overall determination unit 92 satisfies the conditions for all work completion parts specified by the specifying unit 91, the comprehensive determination unit 92 determines the determination result of the determination condition 93b in the storage unit 93. In step S10, the display unit 70 is caused to display information indicating that the operation of the uncompleted part by the working unit 30 is to be performed in step S10. That is, the control device 90 displays the identification number of the unfinished part on the display unit 70 and prompts the worker to work on the part. In this case, the process returns to step S1, and a series of processing is repeated until the work of the unfinished part is completed (however, since step S10 is an infinite loop, step S6 is performed when the predetermined number of times is performed. It is also possible to shift to S7).

  In the present embodiment, in step S10, the display unit 70 displays the information indicating that the work unit 30 should perform the work on the unfinished part, but the work is determined not to satisfy the condition. Information indicating that the operation of the part should be performed may be displayed.

  As described above, according to this embodiment, since the reading unit 60 is fixed to the extending member 40 and moves in accordance with the movement of the working unit 30, the work is completed each time a plurality of work parts are performed. A site can be identified. Further, since at least one of the work completion part and the work incomplete part can be identified by the display unit 70, it becomes possible to easily recognize the work part where the worker is not working. .

  In this embodiment, the transport unit 80 determines in step S2 or step S6 that the overall determination unit 92 refers to the database 93a in the storage unit 93, and the work for any work completion part does not satisfy the condition. If it is determined that the condition is not satisfied at any work site, the work is performed when the fact is displayed. When the operator presses the work end button, the second transfer destination 82 may be transferred. Further, the bolt may be once removed by reverse rotation, the touch panel of the display unit 70 may be operated to recognize the working state as incomplete, and the bolt may be tightened again.

  Control contents for the display unit 70, the work support unit 10 and the transport unit 80 based on the determination result of the comprehensive determination unit can be easily handled by replacing the information of the determination condition 93b.

  In the present embodiment, the nut W is used to tighten the workpiece W. However, the present invention is not limited to this. For example, the crimping device is used to crimp the workpiece. It may be configured to perform.

[Modification]
FIG. 8 is a perspective view showing a configuration of a workpiece assembling apparatus 200 according to a modification. In the above-described embodiment, the board B1 is placed horizontally, and the reading unit 60 provided at the tip of the extending member 40 reads the information of the read unit 50 from above the board B1. However, the present invention is not limited to such a configuration, and the board B1 is placed vertically, and the reading unit 60 provided at the distal end of the extending member 40 reads the information of the read unit 50 from the side of the board B1. It doesn't matter. That is, the workpiece assembly apparatus 200 according to this modification is configured as follows.

  In the present embodiment, only the guide rail G2 extending in the same direction (Y-axis direction) as the workpiece W conveyance direction is provided on the ceiling frame 5c, and the direction orthogonal to the workpiece W conveyance direction (X-axis direction) is provided. The guide rail G1 extending in the direction is not provided. The guide rail G2 has two rails extending in parallel to each other. The guide rail G2 supports the upper end part of the support member 20 so that sliding is possible.

  The working part 30 is supported so as to be movable in the vertical direction (Z-axis direction) with respect to the support member 20, and is a nut runner that performs tightening work on a plurality of work parts on the side surface of the work W supported by the work support part 10. It is. The working unit 30 is disposed so that the head of the nutrunner faces in a direction away from the worker. The support member 20 is provided with a handle portion H1 (see FIG. 3) for operating the movement of the working unit 30.

  The work unit 30 is moved by the operator in the vertical direction so as to match the height of each work site, and is tightened by moving in the X-axis direction. One end of the stretching member 40 is supported by the support member 20 and extends in the horizontal direction (Y-axis direction) so as to be separated from the operator. Therefore, the extending member 40 moves together with the support member 20.

  In the present modification, the board B1 is disposed on a mounting shelf 5f supported by a member 5g extending in the X-axis direction from the column frame 5b of the gantry 5 in the vicinity of the distal end portion of the extending member 40. The reading unit 60 is fixed to the distal end portion of the extending member 40, and reads information stored in the read unit 50 corresponding to each work site as the work unit 30 moves.

  Thus, also in this modification, it is possible to obtain the same operation effect as the above-mentioned embodiment.

W Work 10 Work support part 20 Support member 30 Working part 40 Extending member 50 Read part 60 Read part 70 Display part 91 Identification part 100 Work assembly apparatus

Claims (13)

A work support means for supporting the work in a horizontal state;
A support member supported to be movable in the horizontal direction above and below the workpiece support means; and
Working means supported so as to be movable in the vertical direction with respect to the support member, and working on a plurality of work parts on the upper surface or side surface of the work supported by the work support means;
One end portion of the support member is supported, and the extending member extends in the horizontal direction or the vertical direction.
A plurality of read parts disposed corresponding to the positions of the plurality of work parts at a position spaced apart from the stretching member;
Reading means that is fixed to the stretching member and reads information stored in the read portion corresponding to each work site as the work means moves.
Based on the information read by the reading means, a specifying means for specifying a work completion part where work has been performed by the work means and a work incomplete part where work has not been performed,
Display means for identifiably displaying at least one of the work completion part specified by the specification means and the work incomplete part;
A work assembling apparatus comprising: A determination means for determining whether or not the work for the work completion part satisfies a predetermined condition;
The said display means displays the work completion site | part determined that the said conditions are satisfy | filled by the said determination means, and the work completion site | part determined as not satisfy | filling the said conditions so that identification is possible. Item 2. The workpiece assembling apparatus according to Item 1. The working means is for performing a tightening work on the plurality of work parts,
The work assembling apparatus according to claim 2, wherein the determination unit determines whether or not a tightening torque with respect to the work completion portion is within a predetermined range.   In the case where any one of the work parts is specified as the work incomplete part by the specifying part, or when the work for any one of the work complete parts is determined not to satisfy the condition by the determination part. 3. The work assembly apparatus according to claim 2, wherein information indicating that the work should be performed on the work incomplete part or the work completion part determined not to satisfy the condition is displayed.   When all the work parts are specified as the work completion parts by the specifying means, and the work for all the work parts is determined to satisfy the condition by the determination means, the work is transferred to a subsequent transfer destination. The work assembling apparatus according to claim 4, further comprising conveying means for performing the above-described operation. A transporting means for transporting the work that has been performed by the working means to the first or second transport destination;
The conveying means is
When all the work parts are specified as the work completion parts by the specifying means, and the work for all the work completion parts specified by the determination means is determined to satisfy the condition, the work is Transport to the first transport destination,
When any one of the work parts is specified as the work incomplete part by the specifying means, or when the work for any of the work complete parts is determined not to satisfy the condition by the determination means, the work is The work assembling apparatus according to claim 2, wherein the work assembling apparatus is transported to a second transport destination. Storage means for storing an order of reading the plurality of read parts by the reading means;
Based on the information read by the reading means, trace determining means for determining whether or not the work completion site has been specified according to the order stored in the storage means;
Further comprising
The display means displays the work completion parts not specified according to the order in an identifiable manner when the trace determination means determines that the work completion parts are not specified according to the order stored in the storage means. The work assembly apparatus according to claim 1, wherein   The workpiece assembly apparatus according to claim 1, wherein the plurality of read parts are arranged in the same positional relationship as the positional relationship of the plurality of work parts.   9. The workpiece assembling apparatus according to claim 8, wherein the plurality of read parts are disposed on a board that is detachably supported at a position spaced from the extending member.   10. The display device according to claim 1, wherein the display unit displays at least one of the work completion part and the work incomplete part in the same positional relation as the positional relation of the plurality of work parts. The workpiece assembly apparatus described in 1. A work support means for supporting the work in a horizontal state;
A support member supported to be movable in the horizontal direction above and below the workpiece support means; and
Working means supported so as to be movable in the vertical direction with respect to the support member, and working on a plurality of work parts on the upper surface or side surface of the work supported by the work support means;
One end portion of the support member is supported, and the extending member extends in the horizontal direction or the vertical direction.
A plurality of read parts disposed corresponding to the positions of the plurality of work parts at a position spaced apart from the stretching member;
Reading means that is fixed to the stretching member and reads information stored in the read portion corresponding to each work site as the work means moves.
A method for controlling a workpiece assembling apparatus comprising:
Based on the information read by the reading means, a specifying step for specifying a work completion part where work has been performed by the work means and a work incomplete part where work has not been performed,
A display step for displaying the work completion part specified in the specific process and at least one of the work non-completion parts in an identifiable manner;
A control method characterized by comprising: A determination step of determining whether or not the work for the work completion part satisfies a predetermined condition;
In the display step, at least one of a work completion part determined to satisfy the condition and a work completion part determined not to satisfy the condition in the determination step is displayed in an identifiable manner. Item 12. A method for controlling a workpiece assembling apparatus according to Item 11.   In the display step, when any of the work parts is specified as the work incomplete part in the specifying process, or when the work for any of the work completion parts is determined not to satisfy the condition in the determination process 13. The control of the workpiece assembling apparatus according to claim 12, wherein information indicating that the work should be performed on the work incomplete part or the work completion part determined not to satisfy the condition is displayed. Method.

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